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MR2400520 70F25 (37J60 37N35 58A30 70E18 93B29)
Agrachev, A. A. Rolling balls and octonions. (Russian) Tr. Mat. Inst. Steklova 258 (2007), Anal. i Osob. Ch. 1, 17--27 ISBN: 978-5-02-036672-5; 978-5-02-035888-1 ; translation in Proc. Steklov Inst. Math. 258 (2007), no. 1, 13–22
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