Curvature: A Variational Approach
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affine optimal control systemscurvaturegeodesic cost functiongeodesic flowsJacobi curvessub-Riemannian geometry
Relations of infinite-dimensional Hamiltonian and Lagrangian dynamical systems with topology, geometry and differential geometry (37K25) Research exposition (monographs, survey articles) pertaining to calculus of variations and optimal control (49-02) Existence theories for optimal control problems involving ordinary differential equations (49J15) Optimality conditions for problems in abstract spaces (49K27) Optimization of shapes other than minimal surfaces (49Q10) Sub-Riemannian geometry (53C17) Geodesics in global differential geometry (53C22) Riemannian, Finsler and other geometric structures on infinite-dimensional manifolds (58B20)
Abstract: The curvature discussed in this paper is a rather far going generalization of the Riemannian sectional curvature. We define it for a wide class of optimal control problems: a unified framework including geometric structures such as Riemannian, sub-Riemannian, Finsler and sub-Finsler structures; a special attention is paid to the sub-Riemannian (or Carnot-Caratheodory) metric spaces. Our construction of the curvature is direct and naive, and it is similar to the original approach of Riemann. Surprisingly, it works in a very general setting and, in particular, for all sub-Riemannian spaces.
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