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Based on the notion of dilatation structure arXiv:math/0608536, we give anintrinsic treatment to sub-riemannian geometry, started in the paperarXiv:0706.3644 .  Here we prove that regular sub-riemannian manifolds admit dilatationstructures. From the existence of normal frames proved by Bellaiche we deducethe rest of the properties of regular sub-riemannian manifolds by using theformalism of dilatation structures.

Dilatation structures in sub-riemannian geometry