Geodesic
Group pursuit of evader in Pontryagin's example
Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta, Tome 34 (2005) no. 4, pp. 57-66

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Sufficient conditions of catching were derived in one problem of group pursuit. 
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     author = {A. I. Blagodatskikh},
     title = {Group pursuit of evader in {Pontryagin's} example},
     journal = {Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta},
     pages = {57--66},
     publisher = {mathdoc},
     volume = {34},
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     year = {2005},
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A. I. Blagodatskikh. Group pursuit of evader in Pontryagin's example. Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta, Tome 34 (2005) no. 4, pp. 57-66. http://geodesic.mathdoc.fr/item/IIMI_2005_34_4_a3/