@article {2010,
title = {Projective Reeds-Shepp car on $S^2$ with quadratic cost},
journal = {ESAIM COCV 16 (2010) 275-297},
number = {SISSA;34/2008/M},
year = {2010},
abstract = {Fix two points $x,\\\\bar{x}\\\\in S^2$ and two directions (without orientation) $\\\\eta,\\\\bar\\\\eta$ of the velocities in these points. In this paper we are interested to the problem of minimizing the cost $$ J[\\\\gamma]=\\\\int_0^T g_{\\\\gamma(t)}(\\\\dot\\\\gamma(t),\\\\dot\\\\gamma(t))+\\nK^2_{\\\\gamma(t)}g_{\\\\gamma(t)}(\\\\dot\\\\gamma(t),\\\\dot\\\\gamma(t)) ~dt$$ along all smooth curves starting from $x$ with direction $\\\\eta$ and ending in $\\\\bar{x}$ with direction $\\\\bar\\\\eta$. Here $g$ is the standard Riemannian metric on $S^2$ and $K_\\\\gamma$ is the corresponding geodesic curvature.\\nThe interest of this problem comes from mechanics and geometry of vision. It can be formulated as a sub-Riemannian problem on the lens space L(4,1).\\nWe compute the global solution for this problem: an interesting feature is that some optimal geodesics present cusps. The cut locus is a stratification with non trivial topology.},
doi = {10.1051/cocv:2008075},
url = {http://hdl.handle.net/1963/2668},
author = {Ugo Boscain and Francesco Rossi}
}