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Singularities in variational calculus
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    Singularities in variational calculus (English)
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    1984
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    Translation from Itogi Nauki Tekh., Ser. Sovrem. Probl. Mat. 22, 3-55 (Russian) (1983; Zbl 0537.58012).
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    symplectic geometry
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    contact geometry
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    wave fronts
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    systems of rays
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    caustics
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    metamorphoses
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    obstacle
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    variational problems with constraints
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