Geodesic
An improvement algorithm based on local approximation of reachable set
Matematičeskoe modelirovanie, Tome 13 (2001) no. 6, pp. 23-26.

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It is proposed an improvement algorithm based on the approximate representation of reachable set by using a solution of Bellman's equation. In comparison with [2] it is considered another type of reachable set approximation. The algorithm efficiency is illustrated on a text example. 
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     author = {V. A. Baturin and E. V. Goncharova and N. V. Pochinskaya},
     title = {An improvement algorithm based on local approximation of reachable set},
     journal = {Matemati\v{c}eskoe modelirovanie},
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     publisher = {mathdoc},
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     number = {6},
     year = {2001},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/MM_2001_13_6_a4/}
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V. A. Baturin; E. V. Goncharova; N. V. Pochinskaya. An improvement algorithm based on local approximation of reachable set. Matematičeskoe modelirovanie, Tome 13 (2001) no. 6, pp. 23-26. http://geodesic.mathdoc.fr/item/MM_2001_13_6_a4/