We define the notion of sub-Finsler geometry as a natural generalization of sub-Riemannian geometry with applications to optimal control theory. We compute a complete set of local invariants, geodesic equations, and the Jacobi operator for the three-dimensional case and investigate homogeneous examples. © 2006 Elsevier B.V. All rights reserved.
Clelland, J. N., & Moseley, C. G. (2006). Sub-Finsler geometry in dimension three. Differential Geometry and Its Application, 24(6), 628–651. https://doi.org/10.1016/j.difgeo.2006.04.005