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Davydov, A.A., Zakalyukin, V.M. Coincidence of Generic Relative Minimum Singularities in Problems with Explicit and Implicit Constraints. Journal of Mathematical Sciences 103, 709–724 (2001). https://doi.org/10.1023/A:1009550417391
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DOI: https://doi.org/10.1023/A:1009550417391