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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