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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)

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)