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Roughly speaking, an ideal immersion of a Riemannian manifold into a realspace form is an isometric immersion which produces the least possible amountof tension from the ambient space at each point of the submanifold. The mainpurpose of this paper is to completely classify all non-minimal idealsubmanifolds of real space forms with type number $\leq 2$.

Classification of ideal submanifolds of real space forms with type number $\leq 2$