On time-optimal trajectories in non-uniform mediums (Q2347576)

The authors study the time-optimal trajectory problem on the half-plane \(\{(x,y)\in \mathbb{R}^2|y<y_{\max}\}\) with a piecewise \(C^3\) velocity function \(v\). Their main result is the existence of the unique time-optimal curve \(y\in \mathcal {D}_1(x_1,x_2)\) with \(y(x_1)=y_1,\;y(x_2)=y_2\), satisfying the Euler equation \[ y''(x)+\frac{v'(y(x))}{v(y(x))}(1+y'(x)^2)=0. \] Equivalently it is the unique non-constant function \(\;y\in \mathcal {D}_1(x_1,x_2)\) with \(y(x_1)=y_1,\;y(x_2)=y_2\), fulfilling the Beltrami identity \[ \frac 1{v(y(x))\sqrt{1+y'(x)^2}}=C \] with the unique constant \(C>0\).