Geodesic
Curvature of optimal control: Deformation of scalar-input planar systems
Control and Cybernetics, Tome 37 (2008) no. 2, pp. 353-367 
Kawski, Matthias; Maxwell, Parnell Ted. Curvature of optimal control: Deformation of scalar-input planar systems. Control and Cybernetics, Tome 37 (2008) no. 2, pp. 353-367. http://geodesic.mathdoc.fr/item/CC_2008_37_2_a6/
@article{CC_2008_37_2_a6,
     author = {Kawski, Matthias and Maxwell, Parnell Ted},
     title = {Curvature of optimal control: {Deformation} of scalar-input planar systems},
     journal = {Control and Cybernetics},
     pages = {353--367},
     year = {2008},
     volume = {37},
     number = {2},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CC_2008_37_2_a6/}
}
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%A Maxwell, Parnell Ted
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