Bernard Bonnard, Jean-Baptiste Caillau, Emmanuel Trélat. Computation of conjugate times in smooth optimal control: the COTCOT algorithm. In 44th IEEE IEEE Conference on Decision and Control and 8th European Control Conference Control, CDC/ECC 2005, Seville, Spain, 12-15 December, 2005. pages 929-933, IEEE, 2005. [doi]
Abstract is missing.