Penalized soft-constrained geodesics converge to hard-constrained solutions on Riemannian manifolds, with a transformation reducing general optimal control to this setting.
A Tour of Subriemannian Geometries, Their Geodesics and Applications , volume 91 of Mathematical Surveys and Monographs
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Penalised and constrained geodesics in geometric control theory
Penalized soft-constrained geodesics converge to hard-constrained solutions on Riemannian manifolds, with a transformation reducing general optimal control to this setting.