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Cited article:

Strong Sard conjecture and regularity of singular minimizing geodesics for analytic sub-Riemannian structures in dimension 3

A. Belotto da Silva, A. Figalli, A. Parusiński and L. Rifford
Inventiones mathematicae 229 (1) 395 (2022)
https://doi.org/10.1007/s00222-022-01111-2

Existence of tangent lines to Carnot–Carathéodory geodesics

Roberto Monti, Alessandro Pigati and Davide Vittone
Calculus of Variations and Partial Differential Equations 57 (3) (2018)
https://doi.org/10.1007/s00526-018-1361-7