Geodesic
Numerical methods of successive elimination and optimization in stochastic optimal control
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 32 (1992) no. 2, pp. 247-260 
V. V. Baranov. Numerical methods of successive elimination and optimization in stochastic optimal control. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 32 (1992) no. 2, pp. 247-260. http://geodesic.mathdoc.fr/item/ZVMMF_1992_32_2_a5/
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