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Regular Approximations of the Fastest Motion of Mobile Robo..:

Daryina, A. N. ; Diveev, A. I. ; Karamzin, D. Yu....
Computational Mathematics and Mathematical Physics.  62 (2022)  9 - p. 1539-1558 , 2022
Link: https://doi.org/10.1134/s0965542522090093