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A. A. Agrachev, Quadratic mappings in geometric control theory. (Russian) Itogi Nauki i Tekhniki; Problemy Geometrii, VINITI, Acad. Nauk SSSR, Vol. 20, Moscow, 1988, 111-205. English translation: J. Sov. Math. 51 (1990), 2667-2734.
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