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A sub-Riemannian manifold is a manifold \\(M\\) equipped with a nonholonomic distribution \\(V\\subset TM\\) carrying a metric, such that the vector fields in \\(V\\) and their commutators span \\(TM\\) at each point of \\(M\\). Curves with tangent vectors in \\(V\\) are called horizontal, and sub-Riemannian geodesics are locally the shortest horizontal curves between their points.    Equivalently, one has a nonnegative bilinear form \\(\\langle\\;,\\;\\rangle\\) of constant rank on \\(T^*M\\), such that the kernel of \\(\\langle\\;,\\;\\rangle\\) consists precisely of those forms that vanish on \\(V\\). Then \\(H(q,p):={1\\over 2}\\langle p,p\\rangle_q\\) is a Hamiltonian for the sub-Riemannian geodesic flow on \\(T^*M\\). This Hamiltonian \\(H\\) is given in local coordinates for a distribution \\(V\\) carrying the restriction of a Riemannian metric on \\(M\\).    Furthermore, the structure of the sub-Riemannian exponential map \\(\\exp_q: T^*_qM\\to M\\) is analized for generic sub-Riemannian metrics. In the case of the Heisenberg group with the standard contact distribution, more explicit results on geodesics and horizontal curves are 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