@article{articleec1fd8f5,
title   = {Existence, multiplicity, and regularity for sub-Riemannian geodesics by variational methods},
author = {Giambó, Roberto and Giannoni, Fábio and Piccione, Paolo},
year = {2002},
doi = {10.1137/S0363012900367242},
publisher = {SIAM},
journal   = {Siam Journal on control and Optimization}
}