Geodesic
The approximate solution of the time-optimal problem with lag
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 10 (1970) no. 5, pp. 1124-1140

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     author = {F. P. Vasil'ev and R. P. Ivanov},
     title = {The approximate solution of the time-optimal problem with lag},
     journal = {\v{Z}urnal vy\v{c}islitelʹnoj matematiki i matemati\v{c}eskoj fiziki},
     pages = {1124--1140},
     publisher = {mathdoc},
     volume = {10},
     number = {5},
     year = {1970},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ZVMMF_1970_10_5_a6/}
}
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F. P. Vasil'ev; R. P. Ivanov. The approximate solution of the time-optimal problem with lag. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 10 (1970) no. 5, pp. 1124-1140. http://geodesic.mathdoc.fr/item/ZVMMF_1970_10_5_a6/