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In this paper we characterize the existence of Riemannian covering maps from a complete simply connected Riemannian manifold $(M,g)$ onto a complete Riemannian manifold $(\widehat{M},\widehat{g})$ in terms of developing geodesic triangles of $M$ onto $\widehat{M}$. More precisely, we show that if $A_0:T{{|}_{x_0}M\to T|}_{{\widehat{x}}_0}\widehat{M}$ is some isometric map between the tangent spaces and if for any two geodesic triangles $\gamma$, $\omega$ of $M$ based at $x_0$ the development through $A_0$ of the composite path $\gamma ·\omega$ onto $\widehat{M}$ results in a closed path based at ${\widehat{x}}_0$, then there exists a Riemannian covering map...