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Translated from Kibernetika, No. 3, pp. 140–141, May–June, 1978.
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Ostapenko, V.V. On the escape problem with integral and geometric constraints on the control. Cybern Syst Anal 14, 467–468 (1978). https://doi.org/10.1007/BF01074684
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DOI: https://doi.org/10.1007/BF01074684