Geodesic
On the question of soft capture in differential games with several pursuers and one evader
Informatics and Automation, Optimal control and differential games, Tome 185 (1988), pp. 74-83.

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     author = {R. P. Ivanov},
     title = {On the question of soft capture in differential games with several pursuers and one evader},
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     volume = {185},
     year = {1988},
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     url = {http://geodesic.mathdoc.fr/item/TRSPY_1988_185_a5/}
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R. P. Ivanov. On the question of soft capture in differential games with several pursuers and one evader. Informatics and Automation, Optimal control and differential games, Tome 185 (1988), pp. 74-83. http://geodesic.mathdoc.fr/item/TRSPY_1988_185_a5/