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
system: zdot=drift(z)+exp(i*control). drift = linear quadratic1 quadratic2 quadratic3 [0,sech(x)] [csch(x),0] [tanh(y),0]