Minimum-landing-error powered-descent guidance for Mars landing using convex optimization. Blackmore, L., Açı kmeşe , B., & Scharf, D. P Journal of guidance, control, and dynamics, 33(4):1161–1171, 2010.
bibtex   
@article{blackmore2010minimum,
  title={Minimum-landing-error powered-descent guidance for Mars landing using convex optimization},
  author={Blackmore, Lars and A\c{c}\i kme\c{s}e, Beh\c{c}et and Scharf, Daniel P},
  journal={Journal of guidance, control, and dynamics},
  volume={33},
  number={4},
  pages={1161--1171},
  year={2010}
}

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