@article{TRSPY_2012_277_a17,
     author = {A. M. Tarasyev and A. A. Usova},
     title = {Stabilizing the {Hamiltonian} system for constructing optimal trajectories},
     journal = {Informatics and Automation},
     pages = {257--274},
     publisher = {mathdoc},
     volume = {277},
     year = {2012},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TRSPY_2012_277_a17/}
}