Geodesic
The construction of the equations of a programmed motion having extremal properties
Differencialʹnye uravneniâ, Tome 8 (1972) no. 10, pp. 1761-1766 
E. S. Lehnitsky. The construction of the equations of a programmed motion having extremal properties. Differencialʹnye uravneniâ, Tome 8 (1972) no. 10, pp. 1761-1766. http://geodesic.mathdoc.fr/item/DE_1972_8_10_a4/
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     author = {E. S. Lehnitsky},
     title = {The construction of the equations of a programmed motion having extremal properties},
     journal = {Differencialʹnye uravneni\^a},
     pages = {1761--1766},
     year = {1972},
     volume = {8},
     number = {10},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_1972_8_10_a4/}
}
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