Geodesic
Linear time-optimality problem and the unit sphere of initial values of a~conjugate variable
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Current problems in mathematics. Mathematical analysis, algebra, topology, Tome 167 (1985), pp. 179-182.

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     author = {Yu. N. Kiselev},
     title = {Linear time-optimality problem and the unit sphere of initial values of a~conjugate variable},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {179--182},
     publisher = {mathdoc},
     volume = {167},
     year = {1985},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_1985_167_a8/}
}
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Yu. N. Kiselev. Linear time-optimality problem and the unit sphere of initial values of a~conjugate variable. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Current problems in mathematics. Mathematical analysis, algebra, topology, Tome 167 (1985), pp. 179-182. http://geodesic.mathdoc.fr/item/TM_1985_167_a8/