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MR2436793 (2009e:49043) 49L99 (49K15 53C17)
Cannarsa, P.; Rifford, L. Semiconcavity results for optimal control problems admitting no singular minimizing controls. Ann. Inst. H. Poincaré Anal. Non Linéaire 25 (2008), no. 4, 773–802.
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