where the S j : R d+d R d are surjective linear mappings. In this paper we focus primarily on the trilinear case m = 3. Writing S 0 (x, t) x, we exclude degenerate cases by assuming always that for any two indices i = j, the mapping (x, t) (S i (x, t), S j (x, t)) is invertible; in that case we say that {S j : 0 j 3} is nondegenerate.
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Michael Christ (2001) studied this question.
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