Optimizing the time to cross a region

@article{Pshenichny1993OptimizingTT,
  title={Optimizing the time to cross a region},
  author={B. N. Pshenichnyĭ and Shuhrat Ochilov},
  journal={Cybernetics and Systems Analysis},
  year={1993},
  volume={29},
  pages={450-454}
}