Geodesic
Methods for solving a~smooth linear time-optimality problem
Informatics and Automation, Optimal control and differential games, Tome 185 (1988), pp. 106-115.

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     author = {Yu. N. Kiselev},
     title = {Methods for solving a~smooth linear time-optimality problem},
     journal = {Informatics and Automation},
     pages = {106--115},
     publisher = {mathdoc},
     volume = {185},
     year = {1988},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TRSPY_1988_185_a8/}
}
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Yu. N. Kiselev. Methods for solving a~smooth linear time-optimality problem. Informatics and Automation, Optimal control and differential games, Tome 185 (1988), pp. 106-115. http://geodesic.mathdoc.fr/item/TRSPY_1988_185_a8/