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We establish a precise asymptotic formula for the number of homotopy classesof periodic orbits for the geodesic flow on rank one manifolds of nonpositivecurvature. This extends a celebrated result of G. A. Margulis to thenonuniformly hyperbolic case and strengthens previous results by G. Knieper. Wealso establish some useful properties of the measure of maximal entropy.

Counting closed geodesics on rank one manifolds