Geodesic
Singularities of the Bellman function in a linear time-optimality problem
Doklady Akademii Nauk, Tome 291 (1986) no. 3, pp. 528-530.

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     author = {A. A. Belolipetskii and A. Yu. Ryabov},
     title = {Singularities of the {Bellman} function in a linear time-optimality problem},
     journal = {Doklady Akademii Nauk},
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     number = {3},
     year = {1986},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1986_291_3_a2/}
}
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A. A. Belolipetskii; A. Yu. Ryabov. Singularities of the Bellman function in a linear time-optimality problem. Doklady Akademii Nauk, Tome 291 (1986) no. 3, pp. 528-530. http://geodesic.mathdoc.fr/item/DAN_1986_291_3_a2/