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MR1831660 (2002h:93031) 93B27 (53C17 93C10)
Agrachev, Andrei; Gauthier, Jean-Paul On the subanalyticity of Carnot-Caratheodory distances. Ann. Inst. H. Poincaré Anal. Non Linéaire 18 (2001), no. 3, 359–382.
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