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MR2502528 58J60 (22E30 53C17)
Agrachev, Andrei; Boscain, Ugo; Gauthier, Jean-Paul; Rossi, Francesco The intrinsic hypoelliptic Laplacian and its heat kernel on unimodular Lie groups. J. Funct. Anal. 256 (2009), no. 8, 2621–2655.
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