期刊
JOURNAL OF DYNAMICAL AND CONTROL SYSTEMS
卷 8, 期 4, 页码 573-597出版社
KLUWER ACADEMIC/PLENUM PUBL
DOI: 10.1023/A:1020719503741
关键词
sub-Riemannian geometry; nonholonomic constraints; Pontryagin maximum principle; Lagrangian map; SO(n)-action; caustic
In this paper we study the nilpotent (3, 6) sub-Riemannian problem. We describe the envelope of sub-Riemannian geodesics starting from a fixed point. We also describe the wave fronts propagating from the point. For general nilpotent (n, n(n + 1)/2) sub-Riemannian problem we formulate a conjecture about the form of the variety where geodesics starting from a fixed point lose optimality.
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