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Kloernetika, Vol. 3, No. 3, pp. 1–20, 1967 UDC 519.8
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Ermol'ev, Y.M., Gulenko, V.P. The finite-difference method in optimal control problems. Cybern Syst Anal 3, 1–16 (1967). https://doi.org/10.1007/BF01119998
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DOI: https://doi.org/10.1007/BF01119998