The brachistochrone problem with frictional forces
ESAIM: Control, Optimisation and Calculus of Variations, Tome 5 (2000), pp. 187-206 
@article{COCV_2000__5__187_0,
     author = {Giamb\`o, Roberto and Giannoni, Fabio},
     title = {The brachistochrone problem with frictional forces},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {187--206},
     year = {2000},
     publisher = {EDP Sciences},
     volume = {5},
     mrnumber = {1750614},
     zbl = {0954.58019},
     language = {en},
     url = {https://www.numdam.org/item/COCV_2000__5__187_0/}
}
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Giambò, Roberto; Giannoni, Fabio. The brachistochrone problem with frictional forces. ESAIM: Control, Optimisation and Calculus of Variations, Tome 5 (2000), pp. 187-206. https://www.numdam.org/item/COCV_2000__5__187_0/

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