4 papers
Second order optimality conditions for piecewise regular extremals in Optimal Control
Andrei A. Agrachev, Michele Motta
We study second-order optimality conditions for optimal control problems with integral cost. We consider extremals obtained by concatenating finitely many regular arcs and prove bo…
Singular extremals of optimal control problems with cost
Andrei Agrachev, Ivan Beschastnyi, Michele Motta
We study the optimal control problem for a control-affine system, where we want to minimize the norm of the control. First, we show how Pontryagin Maximum Principle (PMP) app…
Asymptotics of motion planning complexity for control-affine systems
Michele Motta, Dario Prandi
In this paper, we study the complexity of the approximation of nonadmissible curves for nonlinear control-affine systems satisfying the strong H{ö}rmander condition. Focusing on tu…
Lyapunov Exponents of Linear Switched Systems
Andrei A. Agrachev, Michele Motta
We explicitly compute the maximal Lyapunov exponent for a switched system on . This computation is reduced to the characterization of optimal trajectories…