Cut time in sub-Riemannian problem on Engel group

DOI10.1051/COCV/2015027MaRDI QIDQ2949584zbMATH OpenOpenAlexWikidataFDO

Authors Andrei A. Ardentov, Yu L. Sachkov

Publication date 2 October 2015

Published in ESAIM: Control, Optimisation and Calculus of Variations (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1408.6651

zbMATH Keywords

cut timeEngel groupEuler's elasticaexponential mappingLie algebraMaxwell timeoptimal controlsub-Riemannian geometry

Mathematics Subject Classification ID

Nilpotent and solvable Lie groups (22E25) Sub-Riemannian geometry (53C17) Applications of variational problems to control theory (58E25)

Abstract: The left-invariant sub-Riemannian problem on the Engel group is considered. The problem gives the nilpotent approximation to generic nonholonomic systems in four-dimensional space with two-dimensional control, for instance to a system which describes motion of mobile robot with a trailer. The global optimality of extremal trajectories is studied via geometric control theory. The global diffeomorphic structure of the exponential mapping is described. As a consequence, the cut time is proved to be equal to the first Maxwell time corresponding to discrete symmetries of the exponential mapping.

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