Geodesic
Differentiability of a mapping that describes isochrone surfaces in a linear time optimal problem
Differencialʹnye uravneniâ, Tome 7 (1971) no. 8, pp. 1385-1392 
Yu. N. Kiselev. Differentiability of a mapping that describes isochrone surfaces in a linear time optimal problem. Differencialʹnye uravneniâ, Tome 7 (1971) no. 8, pp. 1385-1392. http://geodesic.mathdoc.fr/item/DE_1971_7_8_a4/
@article{DE_1971_7_8_a4,
     author = {Yu. N. Kiselev},
     title = {Differentiability of a mapping that describes isochrone surfaces in a linear time optimal problem},
     journal = {Differencialʹnye uravneni\^a},
     pages = {1385--1392},
     year = {1971},
     volume = {7},
     number = {8},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_1971_7_8_a4/}
}
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