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MR1867362 53C17 (37J99 53C60 58E10 70G45 70H05)
Montgomery, Richard A tour of subriemannian geometries, their geodesics and applications. Mathematical Surveys and Monographs, 91. American Mathematical Society, Providence, RI, 2002. xx+259 pp. ISBN: 0-8218-1391-9
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