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Singularities of Frontals

In this survey article we introduce the notion of frontals, which provides a class of generalised submanifolds with singularities but with well-defined tangent spaces. We present a review of basic theory and known studies on frontals in several geometric problems from singularity theory viewpoints. In particular, in this paper, we try to give some of detailed proofs and related ideas, which were omitted in the original papers, to the basic and important results related to frontals.