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Error Bounds for Discrete-Continuous Free Flight Trajectory Optimization (Article)

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           _    _    _____      ______    _____      ___    
    ___   | || | || |  __ \\   /_   _//  /  ___||   / _ \\  
   /   || | || | || | |  \ ||   -| ||-  | // __    / //\ \\ 
  | [] || | \\_/ || | |__/ ||   _| ||_  | \\_\ || |  ___  ||
   \__ ||  \____//  |_____//   /_____//  \____//  |_||  |_||
    -|_||   `---`    -----`    `-----`    `---`   `-`   `-` 
     `-`                                                    
 


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