Geodesic
Convex hulls of surfaces with boundaries and corners and singularities of transitivity zone in~$\mathbb R^3$
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Differential equations and topology. I, Tome 268 (2010), pp. 284-303

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Generic singularities of the boundary of the local transitivity set of a control system on two- and three-dimensional manifolds are classified. The indicatrices of the system are assumed to be given by generic equations and inequalities. 
@article{TM_2010_268_a18,
     author = {V. M. Zakalyukin and A. N. Kurbatskii},
     title = {Convex hulls of surfaces with boundaries and corners and singularities of transitivity zone in~$\mathbb R^3$},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {284--303},
     publisher = {mathdoc},
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     year = {2010},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_2010_268_a18/}
}
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V. M. Zakalyukin; A. N. Kurbatskii. Convex hulls of surfaces with boundaries and corners and singularities of transitivity zone in~$\mathbb R^3$. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Differential equations and topology. I, Tome 268 (2010), pp. 284-303. http://geodesic.mathdoc.fr/item/TM_2010_268_a18/