The curvature of optimal control
Based on a theory by
Andrei Agrachev and
work by
Ulysse Serres.
See JDCS
for the background.
For info contact Matt Kawski.
Interactive MATLAB-implementation (e.g. initialize animated geodesic
spray w/ mouse-click) by
Eric Gehrig.
Upcoming: An article explaining some special cases;
improved software to connect curvature in cotangent bundle with
tangent-velocities of geodesics