MathSciNet bibliographic data MR844630 (88a:58044) 58E10 (49F05 58A15) Bryant, Robert; Griffiths, Phillip Reduction for constrained variational problems and $\int{1\over 2}k\sp 2\,ds$$\int{1\over 2}k\sp 2\,ds$. Amer. J. Math. 108 (1986), no. 3, 525–570. Article

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