Geodesic
Point singularities of a~conditional minimum on a~three-dimensional manifold
Informatics and Automation, Optimal control, differential equations and smooth optimization, Tome 220 (1998), pp. 113-129.

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     author = {A. A. Davydov and V. M. Zakalyukin},
     title = {Point singularities of a~conditional minimum on a~three-dimensional manifold},
     journal = {Informatics and Automation},
     pages = {113--129},
     publisher = {mathdoc},
     volume = {220},
     year = {1998},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TRSPY_1998_220_a6/}
}
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A. A. Davydov; V. M. Zakalyukin. Point singularities of a~conditional minimum on a~three-dimensional manifold. Informatics and Automation, Optimal control, differential equations and smooth optimization, Tome 220 (1998), pp. 113-129. http://geodesic.mathdoc.fr/item/TRSPY_1998_220_a6/