Geodesic
On the theory of differential games of escape
Sbornik. Mathematics, Tome 32 (1977) no. 3, pp. 371-383

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The paper consists of three sections. In § 1 a simplified proof is obtained of Pontryagin's escape theorem, differing from his in that in the so-called fine case no integral equation is solved. In § 2, at the expense of restricting the class of controls available to the pursuer, the theory is in a definite sense freed of the constant $\mu$ occurring in Pontryagin's escape theorem. In § 3 a sufficient escape condition is presented for quasilinear games, and examples are also considered. Bibliography: 24 titles. 
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     author = {N. Yu. Satimov},
     title = {On the theory of differential games of escape},
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N. Yu. Satimov. On the theory of differential games of escape. Sbornik. Mathematics, Tome 32 (1977) no. 3, pp. 371-383. http://geodesic.mathdoc.fr/item/SM_1977_32_3_a6/