Necessary conditions for existence of normal extremals in optimal control of systems subject
to nonholonomic constraints are derived as solutions of a constrained second order …

In this paper we study optimal control problems for nonholonomic systems defined on Lie
algebroids by using quasi-velocities. We consider both kinematic, ie systems whose cost …

This dissertation is concerned with dynamic modeling and kinematic control of constrained
mechanical systems with symmetry from a geometric point of view. Constraints are defined …

Candidates to be solutions to optimal control problems, called extremals, are found using
Pontryagin's Maximum Principle [9]. This Principle gives necessary conditions for optimality …

This paper deals with the optimal control problem for a class of nonlinear systems occurring
in nonholonomic motion planning. This class extends a canonical form, originally …

In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the
optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a …

This paper presents a geometric description on Lie algebroids of Lagrangian systems
subject to nonholonomic constraints. The Lie algebroid framework provides a natural …

Isoparallel problems are a class of optimal control problems on principal fibre bundles
endowed with a connection and a Riemannian metric on the base space. These problems …

The fundamental theorem of the theory of optimal control, the Pontryagin maximum principle
(PMP), is extended to the setting of almost Lie (AL) algebroids, geometrical objects …

This paper explores the construction of geometric and variational methods for the optimal
control of nonholonomic mechanical systems, and the construction of variational integrators …