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Recently, in discrete optimal control theory, a great interest has appeared in developing numerical methods to optimally control real mechanical systems, as for instance, autonomous robotic vehicles in natural environments such as robotic arms, spacecrafts, or underwater vehicles.ĭuring the last years, a huge effort has been made for the comprehension of the fundamental geometric structures appearing in dynamical systems, including control systems and optimal control systems. Optimal control theory is a mathematical discipline with innumerable applications in both science and engineering.
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