Generalizes Tanaka finiteness theorem via modified universal prolongation and proves finite symmetries for singularly transitive distributions in real analytic category.
Montgomery,A Tour of Subriemannian Geometries, Their Geodesics and Applications, Mathematical Surveys and Monographs, Volume 91, (2002) American Mathematical Society
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Generalized pseudo-product structures and finite type distributions via abnormal extremals
Generalizes Tanaka finiteness theorem via modified universal prolongation and proves finite symmetries for singularly transitive distributions in real analytic category.