Geodesic
Necessary and sufficient conditions for optimality in a time-optimality problem with phase constraints
Differencialʹnye uravneniâ, Tome 26 (1990) no. 11, pp. 1906-1913.

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     author = {V. A. Komarov},
     title = {Necessary and sufficient conditions for optimality in a time-optimality problem with phase constraints},
     journal = {Differencialʹnye uravneni\^a},
     pages = {1906--1913},
     publisher = {mathdoc},
     volume = {26},
     number = {11},
     year = {1990},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_1990_26_11_a9/}
}
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V. A. Komarov. Necessary and sufficient conditions for optimality in a time-optimality problem with phase constraints. Differencialʹnye uravneniâ, Tome 26 (1990) no. 11, pp. 1906-1913. http://geodesic.mathdoc.fr/item/DE_1990_26_11_a9/