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. 
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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/

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