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Fibration theorems à la Milnor for differentiable maps with non-isolated singularities

We prove fibration theorems à la Milnor for differentiable real maps with non isolated critical values. We study the situation for maps with linear discriminant, and prove that the concept of d-regularity is the key point for the existence of a Milnor fibration on the sphere. We also explain how one can modify the target space by homeomorphisms to linearize a general discriminant. Whenever the composed map is d-regular one has fibration on the sphere. Plenty of examples are discussed along the text.