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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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/

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[3] Chikrii A. A., Konfliktno upravlyaemye protsessy, Nauk. dumka, Kiev, 1992