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MR2312336 (2009a:53053) 53C17 (22E30 30C65 32T27 32V15 49Q15)
Capogna, Luca; Danielli, Donatella; Pauls, Scott D.; Tyson, Jeremy T. An introduction to the Heisenberg group and the sub-Riemannian isoperimetric problem. Progress in Mathematics, 259. Birkhäuser Verlag, Basel, 2007. xvi+223 pp. ISBN: 978-3-7643-8132-5; 3-7643-8132-9
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