Geodesic
A synthesis of time-optimal controls in the presence of saturated singular arcs.
Forum mathematicum, Tome 5 (1993) no. 3, pp. 203-242.

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Mots-clés : necessary conditions for optimality, optimal control, approximations of the reachable set 
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     title = {A synthesis of time-optimal controls in the presence of saturated singular arcs.},
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Heinz Schättler; Miroslava Jankovic. A synthesis of time-optimal controls in the presence of saturated singular arcs.. Forum mathematicum, Tome 5 (1993) no. 3, pp. 203-242. http://geodesic.mathdoc.fr/item/FORUM_1993__5_3_141705/