Geodesic
Envelope Singularities of Families of Planes in Control Theory
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, Tome 262 (2008), pp. 73-86

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Generic singularities of the local transitivity set for control systems with nonconvex indicatrix on three-dimensional manifolds are classified. A simple recognition criterion for generic singularities of envelopes of bi-tangents to space curves is described. 
@article{TM_2008_262_a6,
     author = {V. M. Zakalyukin and A. N. Kurbatskii},
     title = {Envelope {Singularities} of {Families} of {Planes} in {Control} {Theory}},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {73--86},
     publisher = {mathdoc},
     volume = {262},
     year = {2008},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_2008_262_a6/}
}
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V. M. Zakalyukin; A. N. Kurbatskii. Envelope Singularities of Families of Planes in Control Theory. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, Tome 262 (2008), pp. 73-86. http://geodesic.mathdoc.fr/item/TM_2008_262_a6/