Geodesic
Envelope Singularities of Families of Planes in Control Theory
Informatics and Automation, Optimal control, Tome 262 (2008), pp. 73-86 
V. M. Zakalyukin; A. N. Kurbatskii. Envelope Singularities of Families of Planes in Control Theory. Informatics and Automation, Optimal control, Tome 262 (2008), pp. 73-86. http://geodesic.mathdoc.fr/item/TRSPY_2008_262_a6/
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     author = {V. M. Zakalyukin and A. N. Kurbatskii},
     title = {Envelope {Singularities} of {Families} of {Planes} in {Control} {Theory}},
     journal = {Informatics and Automation},
     pages = {73--86},
     year = {2008},
     volume = {262},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TRSPY_2008_262_a6/}
}
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Voir la notice de l'article provenant de la source Math-Net.Ru

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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