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Study of the Rolling Manifolds Model and of its Controllability
We study the controllability of the control system describing the rolling motion, without slipping nor spinning, of two n-dimensional Riemannian manifolds, one against... -
The role of symplectic integrators in optimal control
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Hausdorff measures and dimensions in non equiregular sub-Riemannian manifolds
This paper is a starting point towards computing the Hausdorff dimension of submanifolds and the Hausdorff volume of small balls in a sub-Riemannian manifold with... -
Curvature: a variational approach
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On the role of abnormal minimizers in sub-Riemannian geometry
Consider a sub-Riemannian geometry $(U,D,g)$ where $U$ is a neighborhood at $0$ in $\R^n,$ $D$ is a rank-2 smooth $(C^\infty $ or $C^\omega )$ distribution and $g$ is... -
Robust stabilization in the Martinet case
In a previous work, we derived a result of semi-global minimal time robust stabilization for analytic control systems with controls entering linearly, by means of a... -
Quasi-optimal robust stabilization of control systems
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Some properties of the value function and its level sets for affine control s...
Let $T>0$ fixed. We consider the optimal control problem for analytic affine systems~: $\ds{\dot{x}=f_0(x)+\sum_{i=1}^m u_if_i(x)}$, with a cost of the form~:... -
Sub-Riemannian geometry: one-parameter deformation of the Martinet flat case
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