Geodesic
Exact solution of an $n$-dimensional time-optimality problem
Doklady Akademii Nauk, Tome 298 (1988) no. 6, pp. 1304-1308.

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@article{DAN_1988_298_6_a4,
     author = {V. I. Korobov and G. M. Sklyar},
     title = {Exact solution of an $n$-dimensional time-optimality problem},
     journal = {Doklady Akademii Nauk},
     pages = {1304--1308},
     publisher = {mathdoc},
     volume = {298},
     number = {6},
     year = {1988},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1988_298_6_a4/}
}
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V. I. Korobov; G. M. Sklyar. Exact solution of an $n$-dimensional time-optimality problem. Doklady Akademii Nauk, Tome 298 (1988) no. 6, pp. 1304-1308. http://geodesic.mathdoc.fr/item/DAN_1988_298_6_a4/