Geodesic
Jacobi conditions and the riccati equation for a~broken extremal
Itogi nauki i tehniki. Sovremennaâ matematika i eë priloženiâ. Tematičeskie obzory, Selected papers presented at the international conference dedicated to the 90th anniversary of the birth of L. S. Pontryagin (Moscow, Russia, August 31–September 9, 1998). Vol. 1. Optimal control, Tome 60 (1998), pp. 187-215.

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     author = {N. P. Osmolovskii and F. Lempio},
     title = {Jacobi conditions and the riccati equation for a~broken extremal},
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     publisher = {mathdoc},
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N. P. Osmolovskii; F. Lempio. Jacobi conditions and the riccati equation for a~broken extremal. Itogi nauki i tehniki. Sovremennaâ matematika i eë priloženiâ. Tematičeskie obzory, Selected papers presented at the international conference dedicated to the 90th anniversary of the birth of L. S. Pontryagin (Moscow, Russia, August 31–September 9, 1998). Vol. 1. Optimal control, Tome 60 (1998), pp. 187-215. http://geodesic.mathdoc.fr/item/INTO_1998_60_a9/