Geodesic
Linear time-optimality problems with mixed constraints
Differencialʹnye uravneniâ, Tome 12 (1976) no. 9, pp. 1541-1551.

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@article{DE_1976_12_9_a1,
     author = {Yu. I. Brodskii},
     title = {Linear time-optimality problems with mixed constraints},
     journal = {Differencialʹnye uravneni\^a},
     pages = {1541--1551},
     publisher = {mathdoc},
     volume = {12},
     number = {9},
     year = {1976},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_1976_12_9_a1/}
}
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Yu. I. Brodskii. Linear time-optimality problems with mixed constraints. Differencialʹnye uravneniâ, Tome 12 (1976) no. 9, pp. 1541-1551. http://geodesic.mathdoc.fr/item/DE_1976_12_9_a1/