Geodesic
On the problem of the construction of equations of programmed motions
Differencialʹnye uravneniâ, Tome 9 (1973) no. 10, pp. 1798-1809 
I. A. Mukhametzyanov. On the problem of the construction of equations of programmed motions. Differencialʹnye uravneniâ, Tome 9 (1973) no. 10, pp. 1798-1809. http://geodesic.mathdoc.fr/item/DE_1973_9_10_a6/
@article{DE_1973_9_10_a6,
     author = {I. A. Mukhametzyanov},
     title = {On the problem of the construction of equations of programmed motions},
     journal = {Differencialʹnye uravneni\^a},
     pages = {1798--1809},
     year = {1973},
     volume = {9},
     number = {10},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_1973_9_10_a6/}
}
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