Geodesic
The Bellman function and optimal synthesis in control problems with nonsmooth constraints
Itogi nauki i tehniki. Sovremennaâ matematika i eë priloženiâ. Tematičeskie obzory, Optimal control and dynamical systems, Tome 110 (2006), pp. 134-154.

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     author = {M. I. Zelikin and N. B. Melnikov},
     title = {The {Bellman} function and optimal synthesis in control problems with nonsmooth constraints},
     journal = {Itogi nauki i tehniki. Sovremenna\^a matematika i e\"e prilo\v{z}eni\^a. Temati\v{c}eskie obzory},
     pages = {134--154},
     publisher = {mathdoc},
     volume = {110},
     year = {2006},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/INTO_2006_110_a5/}
}
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M. I. Zelikin; N. B. Melnikov. The Bellman function and optimal synthesis in control problems with nonsmooth constraints. Itogi nauki i tehniki. Sovremennaâ matematika i eë priloženiâ. Tematičeskie obzory, Optimal control and dynamical systems, Tome 110 (2006), pp. 134-154. http://geodesic.mathdoc.fr/item/INTO_2006_110_a5/