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In the absence of detailed documentation, some notes follow:
============================================================================

Server public key auth:

You can use ~/.ssh/authorized_keys in the same way as with OpenSSH, just put
the key entries in that file. They should be of the form:

ssh-rsa AAAAB3NzaC1yc2EAAAABIwAAAIEAwVa6M6cGVmUcLl2cFzkxEoJd06Ub4bVDsYrWvXhvUV+ZAM9uGuewZBDoAqNKJxoIn0Hyd0Nk/yU99UVv6NWV/5YSHtnf35LKds56j7cuzoQpFIdjNwdxAN0PCET/MG8qyskG/2IE2DPNIaJ3Wy+Ws4IZEgdJgPlTYUBWWtCWOGc= someone@hostname

You must make sure that ~/.ssh, and the key file, are only writable by the
user. Beware of editors that split the key into multiple lines.

Dropbear supports some options for authorized_keys entries, see the manpage.

============================================================================

Client public key auth: