Divya Garg, Michael A. Patterson, Camila Francolin, Christopher Darby, Geoffrey T. Huntington, William W. Hager, Anil V. Rao. Direct trajectory optimization and costate estimation of finite-horizon and infinite-horizon optimal control problems using a Radau pseudospectral method. Comp. Opt. and Appl., 49(2):335-358, 2011. [doi]
Abstract is missing.