Geodesic
The solution of an optimal control problem with a moving target in the presence of obstacles
Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta, no. 3 (2006), pp. 99-100 
A. R. Matviychuk. The solution of an optimal control problem with a moving target in the presence of obstacles. Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta, no. 3 (2006), pp. 99-100. http://geodesic.mathdoc.fr/item/IIMI_2006_3_a44/
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