Geodesic
Algorithms for the trajectory control of the movement of
Doklady Akademii Nauk, Tome 294 (1987) no. 4, pp. 808-811 
P. D. Krut'ko; N. A. Lakota. Algorithms for the trajectory control of the movement of. Doklady Akademii Nauk, Tome 294 (1987) no. 4, pp. 808-811. http://geodesic.mathdoc.fr/item/DAN_1987_294_4_a8/
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     author = {P. D. Krut'ko and N. A. Lakota},
     title = {Algorithms for the trajectory control of the movement of},
     journal = {Doklady Akademii Nauk},
     pages = {808--811},
     year = {1987},
     volume = {294},
     number = {4},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1987_294_4_a8/}
}
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