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Kibernetika, Vol. 2, No. 3, pp. 88–95, 1966
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Ermol'ev, Y.M. Shortest admissible paths. I. Cybern Syst Anal 2, 74–79 (1966). https://doi.org/10.1007/BF01071635
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DOI: https://doi.org/10.1007/BF01071635