Geodesic
Calculation of the gradient in optimal control problems with a discontinuous right-hand side
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 35 (1995) no. 7, pp. 1058-1066 
A. F. Albu. Calculation of the gradient in optimal control problems with a discontinuous right-hand side. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 35 (1995) no. 7, pp. 1058-1066. http://geodesic.mathdoc.fr/item/ZVMMF_1995_35_7_a4/
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