@article{article, title  = {{A generalization of Bellman’s equation with application to path planning, obstacle avoidance and invariant set estimation}},

 publisher = {{Elsevier BV}},

 url = {{https://doi.org/10.1016/j.automatica.2021.109510 }},

 year = {{2021}},

 month = {{5}},

 author = {{Jones M and Peet MM}},

 doi = {{10.1016/j.automatica.2021.109510}},

 volume = {{127}},

 journal = {{Automatica}},

 pages = {{109510-109510}},

 note = {{Accessed on 2025/11/03}}}