Geodesic
Algorithms for open-loop and closed-loop optimization of control systems with intermediate state contraints
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 41 (2001) no. 10, pp. 1485-1504 
N. V. Balashevich; R. Gabasov; F. M. Kirillova. Algorithms for open-loop and closed-loop optimization of control systems with intermediate state contraints. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 41 (2001) no. 10, pp. 1485-1504. http://geodesic.mathdoc.fr/item/ZVMMF_2001_41_10_a3/
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