Sushil K. Agrawal, Shi Li, Brian C. Fabien. Optimal trajectories of open-chain mechanical systems: Explicit optimality equation with multiple shooting solution. In Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, USA, April 22-28, 1996. pages 2450-2455, IEEE, 1996. [doi]
Abstract is missing.