Geodesic
Convex hulls of surfaces with boundaries and corners and singularities of transitivity zone in~$\mathbb R^3$
Informatics and Automation, 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. 
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V. M. Zakalyukin; A. N. Kurbatskii. Convex hulls of surfaces with boundaries and corners and singularities of transitivity zone in~$\mathbb R^3$. Informatics and Automation, Differential equations and topology. I, Tome 268 (2010), pp. 284-303. http://geodesic.mathdoc.fr/item/TRSPY_2010_268_a18/

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