Any sub-Riemannian metric has points of smoothness (Q1760932)

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    Any sub-Riemannian metric has points of smoothness
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      Any sub-Riemannian metric has points of smoothness (English)
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      15 November 2012
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      normal (sub-Riemannian) geodesics
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      abnormal geodesics
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      sub-Riemannian Hamiltonian
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      exponential map
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