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MR2147188 37J05 (53D05 70G45 70H05 70H33)
Agrachev, A. A.; Chtcherbakova, N. N.; Zelenko, I. On curvatures and focal points of dynamical Lagrangian distributions and their reductions by first integrals. J. Dyn. Control Syst. 11 (2005), no. 3, 297–327.
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