Geodesic
On the mobility and efficiency of mechanical systems
ESAIM: Control, Optimisation and Calculus of Variations, Tome 13 (2007) no. 4, pp. 657-668

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It is shown that self-locomotion is possible for a body in euclidian space, provided its dynamics corresponds to a non-quadratic hamiltonian, and that the body contains at least 3 particles. The efficiency of the driver of such a system is defined. The existence of an optimal (most efficient) driver is proved.

DOI : 10.1051/cocv:2007034
Classification : 37J50, 37K25, 70H33
Keywords: lagrangian mechanics, efficiency, self-locomotion 
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     title = {On the mobility and efficiency of mechanical systems},
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Wolansky, Gershon. On the mobility and efficiency of mechanical systems. ESAIM: Control, Optimisation and Calculus of Variations, Tome 13 (2007) no. 4, pp. 657-668. doi: 10.1051/cocv:2007034

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