@article{VUU_2010_3_a4,
     author = {A. A. Uspenskii and P. D. Lebedev},
     title = {Singularities' of {Optimal-Time} {Function} in {One} {Class} of {Optimal-Time} {Control} {Problems} {Construction} {Algorithms}},
     journal = {Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹ\^uternye nauki},
     pages = {30--41},
     publisher = {mathdoc},
     number = {3},
     year = {2010},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VUU_2010_3_a4/}
}