In this work, we significantly extend the results of D. Houpa, 2006 on the Goursat problem for second-order semi-linear hyperbolic systems to the broader framwork of second-order hyper-quasilinear hyperbolic systems of Goursat type, in which the coefficients of the second-order derivatives depend linearly on the unknown. By adapting techniques inspired by Y. Foures (Choquet)- Bruhat, Acta Mathematica, 1952. we show that in the Sobolev type spaces for the Goursat problem quasilinear hyperbolic of the second order considered, the solution exists and is defined in the vicinity of the meeting characteristic hypersurfaces which carry the initial data. As an application, in harmonic gauge, we derive a semi-global existence and uniqueness result for the vacuum Einstein equations.

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