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Translated from Kibernetika, No. 2, pp. 64–76, March–April, 1970.
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Ermol'ev, Y.M. Optimal control of stochastic processes. Cybern Syst Anal 6, 84–97 (1970). https://doi.org/10.1007/BF01070504
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DOI: https://doi.org/10.1007/BF01070504