The leapfrog algorithm and optimal control
(Y Kaya with L Noakes)The Leapfrog Algorithm has been originally developed by co-worker Lyle Noakes of the University of Western Australia to find geodesics globally in a connected complete Riemannian manifold.
Recently a theoretical analysis of the algorithm has jointly been given for the optimal control of nonlinear systems. Computer codes have been developed for a class of systems. Work is in progress for further generalisation of the theory of the algorithm.
In the figure following, three iterations of piecewise-optimal trajectories, each with a different colour, of the leapfrog algorithm are depicted.
