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MR1648710 53C15 (53C20 93B29)
Agrachev, A. A.; Chakir El-A., El-H.; Gauthier, J. P. Sub-Riemannian metrics on ${\bf R}\sp 3$. Geometric control and non-holonomic mechanics (Mexico City, 1996), 29–78, CMS Conf. Proc., 25, Amer. Math. Soc., Providence, RI, 1998.
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