TY - THES T1 - The curvature of optimal control problems with applications to sub-Riemannian geometry Y1 - 2014 A1 - Luca Rizzi KW - Sub-Riemannian geometry AB - Optimal control theory is an extension of the calculus of variations, and deals with the optimal behaviour of a system under a very general class of constraints. This field has been pioneered by the group of mathematicians led by Lev Pontryagin in the second half of the 50s and nowadays has countless applications to the real worlds (robotics, trains, aerospace, models for human behaviour, human vision, image reconstruction, quantum control, motion of self-propulsed micro-organism). In this thesis we introduce a novel definition of curvature for an optimal control problem. In particular it works for any sub-Riemannian and sub-Finsler structure. Related problems, such as comparison theorems for sub-Riemannian manifolds, LQ optimal control problem and Popp's volume and are also investigated. PB - SISSA UR - http://hdl.handle.net/1963/7321 N1 - The PhD thesis is composed of 211 pages and is recorded in PDF format U1 - 7367 U2 - Mathematics U4 - 1 U5 - MAT/03 GEOMETRIA ER -