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We prove some Hardy-type inequalities related to quasilinear second-order degenerate elliptic differential operators $L_{p}u:=-{\nabla }_L^{*}\left({\left|{\nabla }_{L}u\right|}^{p-2}{\nabla }_{L}u\right)$. If $\phi$ is a positive weight such that $-L_p\phi \ge 0$, then the Hardy-type inequalityholds. We find an explicit value of the constant involved, which, in most cases, results optimal. As particular case we derive Hardy inequalities for subelliptic operators on Carnot Groups.