no. 6
Abnormal sub-riemannian geodesics : Morse index and rigidity
Annales de l'I.H.P. Analyse non linéaire, Tome 13 (1996) no. 6, pp. 635-690. 
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Agrachev, A. A.; Sarychev, A. V. Abnormal sub-riemannian geodesics : Morse index and rigidity. Annales de l'I.H.P. Analyse non linéaire, Tome 13 (1996) no. 6, pp. 635-690. http://www.numdam.org/item/AIHPC_1996__13_6_635_0/

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