Geodesic
The problem of avoiding encounter in $n$-person differential games
Informatics and Automation, Analytic number theory, mathematical analysis and their applications, Tome 143 (1977), pp. 105-128.

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     author = {E. F. Mishchenko and M. S. Nikol'skii and N. Yu. Satimov},
     title = {The problem of avoiding encounter in $n$-person differential games},
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     pages = {105--128},
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     year = {1977},
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     url = {http://geodesic.mathdoc.fr/item/TRSPY_1977_143_a6/}
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E. F. Mishchenko; M. S. Nikol'skii; N. Yu. Satimov. The problem of avoiding encounter in $n$-person differential games. Informatics and Automation, Analytic number theory, mathematical analysis and their applications, Tome 143 (1977), pp. 105-128. http://geodesic.mathdoc.fr/item/TRSPY_1977_143_a6/