Geodesic
Regularization of the Bellman method in time-optimal problems
Doklady Akademii Nauk, Tome 200 (1971) no. 6, pp. 1294-1297.

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@article{DAN_1971_200_6_a9,
     author = {L. A. Kun and Yu. F. Pronozin},
     title = {Regularization of the {Bellman} method in time-optimal problems},
     journal = {Doklady Akademii Nauk},
     pages = {1294--1297},
     publisher = {mathdoc},
     volume = {200},
     number = {6},
     year = {1971},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1971_200_6_a9/}
}
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L. A. Kun; Yu. F. Pronozin. Regularization of the Bellman method in time-optimal problems. Doklady Akademii Nauk, Tome 200 (1971) no. 6, pp. 1294-1297. http://geodesic.mathdoc.fr/item/DAN_1971_200_6_a9/