Curve cuspless reconstructionviasub-Riemannian geometry

DOI10.1051/COCV/2013082MaRDI QIDQ5495488zbMATH OpenOpenAlexWikidataFDO

Authors Francesco Rossi, Ugo Boscain, Remco Duits, Yu L. Sachkov

Publication date 4 August 2014

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

Full work available at URL https://arxiv.org/abs/1203.3089

zbMATH Keywords

curve reconstructiongeneralized Pontryagin maximum principle

Mathematics Subject Classification ID

Minimal surfaces and optimization (49Q05) Existence theories for free problems in two or more independent variables (49J10)

Abstract: We consider the problem of minimizing $in{t}_0^{L}sqrtx{i}^2+K^2(s),ds$ for a planar curve having fixed initial and final positions and directions. The total length $L$ is free. Here $s$ is the variable of arclength parametrization, $K(s)$ is the curvature of the curve and $xi>0$ a parameter. This problem comes from a model of geometry of vision due to Petitot, Citti and Sarti. We study existence of local and global minimizers for this problem. We prove that if for a certain choice of boundary conditions there is no global minimizer, then there is neither a local minimizer nor a geodesic. We finally give properties of the set of boundary conditions for which there exists a solution to the problem.

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• Extremals for a series of sub-Finsler problems with 2-dimensional control via convex trigonometry
• Cuspless sub-Riemannian geodesics within the Euclidean motion group \(\mathrm{SE}(d)\)

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