@article{COCV_2013__19_1_274_0,
     author = {Tan, Kanghai and Yang, Xiaoping},
     title = {Subriemannian geodesics of {Carnot} groups of step 3},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {274--287},
     year = {2013},
     publisher = {EDP Sciences},
     volume = {19},
     number = {1},
     doi = {10.1051/cocv/2012006},
     mrnumber = {3023070},
     zbl = {1276.53041},
     language = {en},
     url = {https://www.numdam.org/articles/10.1051/cocv/2012006/}
}