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MR1871123 49J10 (53C17 53D10)
Agrachev, A. A.; Gotʹe, Zh. P. A. Sub-Riemannian metrics and isoperimetric problems in the contact case. (Russian) Geometric control theory (Russian) (Moscow, 1998), 5–48, Itogi Nauki Tekh. Ser. Sovrem. Mat. Prilozh. Temat. Obz., 64, Vseross. Inst. Nauchn. i Tekhn. Inform. (VINITI), Moscow, 1999.
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