Singularities and regular paths (an elementary introduction to smooth homotopy)
Cahiers de Topologie et Géométrie Différentielle Catégoriques, Tome 52 (2011) no. 1, article no. 2, 32 p. 
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     title = {Singularities and regular paths (an elementary introduction to smooth homotopy)},
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     pages = {45--76},
     publisher = {Andr\'ee CHARLES EHRESMANN},
     volume = {52},
     number = {1},
     year = {2011},
     mrnumber = {2807421},
     zbl = {1237.58007},
     language = {en},
     url = {http://www.numdam.org/item/CTGDC_2011__52_1_45_0/}
}
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Grandis, Marco. Singularities and regular paths (an elementary introduction to smooth homotopy). Cahiers de Topologie et Géométrie Différentielle Catégoriques, Tome 52 (2011) no. 1, article  no. 2, 32 p. http://www.numdam.org/item/CTGDC_2011__52_1_45_0/

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