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c(v) \in [\tilde{c}(v),\overline{c}] & \mbox{ if } a_e = p \mbox{ and } v < \hat{v} \\
\overline{c} & \mbox{ if } a_e = w \mbox{ and } v < \dot{v} \\
0 & \mbox{ otherwise}
\end{cases}
\,</math>
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