Geodesic
The problem of avoiding encounter in $n$-person differential games
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Analytic number theory, mathematical analysis and their applications, Tome 143 (1977), pp. 105-128 
E. F. Mishchenko; M. S. Nikol'skii; N. Yu. Satimov. The problem of avoiding encounter in $n$-person differential games. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Analytic number theory, mathematical analysis and their applications, Tome 143 (1977), pp. 105-128. http://geodesic.mathdoc.fr/item/TM_1977_143_a6/
@article{TM_1977_143_a6,
     author = {E. F. Mishchenko and M. S. Nikol'skii and N. Yu. Satimov},
     title = {The problem of avoiding encounter in $n$-person differential games},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {105--128},
     year = {1977},
     volume = {143},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_1977_143_a6/}
}
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