Geodesic
A certain test of optimality, and the associated iteration method for the solution of a time-optimal problem
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 11 (1971) no. 3, pp. 597-610

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     author = {R. P. Ivanov},
     title = {A certain test of optimality, and the associated iteration method for the solution of a time-optimal problem},
     journal = {\v{Z}urnal vy\v{c}islitelʹnoj matematiki i matemati\v{c}eskoj fiziki},
     pages = {597--610},
     publisher = {mathdoc},
     volume = {11},
     number = {3},
     year = {1971},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ZVMMF_1971_11_3_a4/}
}
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R. P. Ivanov. A certain test of optimality, and the associated iteration method for the solution of a time-optimal problem. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 11 (1971) no. 3, pp. 597-610. http://geodesic.mathdoc.fr/item/ZVMMF_1971_11_3_a4/