
A number of optimization problems of the mechanics of space flight and the motion of walking robots and manipulators, and of quantum physics, eco- momics and biology, have an irregular structure: classical variational proce- dures do not formally make it possible to find optimal...

A number of optimization problems of the mechanics of space flight and the motion of walking robots and manipulators, and of quantum physics, eco- momics and biology, have an irregular structure: classical variational proce- dures do not formally make it possible to find optimal...