Closed-form expressions and complete classification are given for switching instants in all admissible bang-coast-unconstrained profiles for constrained double-integrator energy-optimal control, including a proof that a bang-affine-coast profile is optimal when both constraints are initially active.
Trajectory optimization of au- tonomous agents with spatio-temporal constraints,
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Closed-Form Characterization of Constrained Double-Integrator Optimal Control
Closed-form expressions and complete classification are given for switching instants in all admissible bang-coast-unconstrained profiles for constrained double-integrator energy-optimal control, including a proof that a bang-affine-coast profile is optimal when both constraints are initially active.