Geodesic
Observability with bearing-only observations and smoothness of attainable set
Fundamentalʹnaâ i prikladnaâ matematika, Tome 11 (2005) no. 8, pp. 119-130.

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The attainable set of a linear control system can have both smooth and not smooth boundary. This smoothness property is known to be used to classify such systems. One approach, suggested by A. I. Ovseevich in the case of a smooth control set, is based on connecting smoothness of the attainable set with spherical observability of the dual system. This paper generalizes these results to a case of nonsmooth control sets. The corresponding property of spherical observability notion can be treated as observability with several bearing-only observations. 
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Yu. V. Bolotin; S. N. Morgunova. Observability with bearing-only observations and smoothness of attainable set. Fundamentalʹnaâ i prikladnaâ matematika, Tome 11 (2005) no. 8, pp. 119-130. http://geodesic.mathdoc.fr/item/FPM_2005_11_8_a5/

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