Time minimization problem on the group of motions of a plane with admissible control in a half-disc

The time minimization problem with admissible control in a half-disc is considered on the group of motions of a plane. The control system under study provides a model of a car on the plane that can move forwards or rotate in place. Optimal trajectories of such a system are used to detect salient curves in image analysis. In particular, in medical image analysis such trajectories are used for tracking vessels in retinal images. The problem is of independent interest in geometric control theory: it provides a model example when the set of values of the control parameters contains zero at the boundary. The problem of controllability and existence of optimal trajectories is studied. By analysing the Hamiltonian system of the Pontryagin maximum principle the explicit form of extremal controls and trajectories is found. Optimality of the extremals is partially investigated. The structure of the optimal synthesis is described.
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