Geodesic
A nilpotent Lie algebras bundle over a non-holonomic manifold (Nilpotentization)
Zapiski Nauchnykh Seminarov POMI, Differential geometry, Lie groups and mechanics. Part 10, Tome 172 (1989), pp. 21-40

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On the tangent bundle of a non-holonomic manifold a canonical structure of a nilpotent Lie algebras bundle is introduced. The local ring of the non-holonomic manifold is interpreted as a ring of quasi-jets. This constructions are used to unify and simplify some results of non-holonomic geometry. 
@article{ZNSL_1989_172_a1,
     author = {A. M. Vershik and V. Ya. Gershkovich},
     title = {A nilpotent {Lie} algebras bundle over a non-holonomic manifold {(Nilpotentization)}},
     journal = {Zapiski Nauchnykh Seminarov POMI},
     pages = {21--40},
     publisher = {mathdoc},
     volume = {172},
     year = {1989},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ZNSL_1989_172_a1/}
}
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A. M. Vershik; V. Ya. Gershkovich. A nilpotent Lie algebras bundle over a non-holonomic manifold (Nilpotentization). Zapiski Nauchnykh Seminarov POMI, Differential geometry, Lie groups and mechanics. Part 10, Tome 172 (1989), pp. 21-40. http://geodesic.mathdoc.fr/item/ZNSL_1989_172_a1/