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MR2384632 53C17 (49Q20)
Agrachev, Andrei A.; Boscain, Ugo; Sigalotti, Mario Two-dimensional almost-Riemannian manifolds. Subelliptic PDE's and applications to geometry and finance, 17–31, Lect. Notes Semin. Interdiscip. Mat., 6, Semin. Interdiscip. Mat. (S.I.M.), Potenza, 2007.
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