Complete characterization of local structure for 2D positive reach sets in R^d, plus elementary proof for kD cases at points with k-dimensional tangent cones, implying countable C^{1,1} surface covers.
Morris: A rapidly-converging lower bound for the joint spectral radius via mul- tiplicative ergodic theory.Adv
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A characterization of the local structure of two-dimensional sets with positive reach
Complete characterization of local structure for 2D positive reach sets in R^d, plus elementary proof for kD cases at points with k-dimensional tangent cones, implying countable C^{1,1} surface covers.