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MR2183196 (2006g:49001) 49-01 (49L20 90-01 90C39 90C40 91B02 93-01)
Bertsekas, Dimitri P. Dynamic programming and optimal control. Vol. I. Third edition. Athena Scientific, Belmont, MA, 2005. xvi+543 pp. ISBN: 1-886529-26-4
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