Geodesic
A~piecewise-linear cost function for a~differential game with simple moves
Informatics and Automation, Optimal control and differential games, Tome 185 (1988), pp. 242-251.

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     author = {A. I. Subbotin},
     title = {A~piecewise-linear cost function for a~differential game with simple moves},
     journal = {Informatics and Automation},
     pages = {242--251},
     publisher = {mathdoc},
     volume = {185},
     year = {1988},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TRSPY_1988_185_a21/}
}
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A. I. Subbotin. A~piecewise-linear cost function for a~differential game with simple moves. Informatics and Automation, Optimal control and differential games, Tome 185 (1988), pp. 242-251. http://geodesic.mathdoc.fr/item/TRSPY_1988_185_a21/