A contact covariant approach to optimal control with applications to sub-Riemannian geometry

Abstract

We discuss contact geometry naturally related with optimal control problems (and Pontryagin Maximum Principle). We explore and expand the observations of [Ohsawa, 2015], providing simple and elegant characterizations of normal and abnormal sub-Riemannian extremals.

A small correction in the statement and proof of Thm 6.15. Watch our publication: https://youtu.be/V04N9X3NxYA and https://youtu.be/jghdRK2IaU8

References in corpus (2)

• Graded contact manifolds and contact Courant algebroids
• Contact Geometry of the Pontryagin Maximum Principle

Cited by in corpus (3)

• Contact variational integrators
• Why are normal sub-Riemannian extremals locally minimizing?
• Higher derivatives of the end-point map of a linear control system via adapted coordinates