Abstract
Regularity properties are investigated for the value function of the Bolza optimal control problem with affine dynamic and end-point constraints. In the absence of singular geodesics, we prove the local semiconcavity of the sub-Riemannian distance from a compact set Γ⊂Rn. Such a regularity result was obtained by the second author and L. Rifford in Cannarsa and Rifford (2008) when Γ is a singleton. Furthermore, we derive sensitivity relations for time optimal control problems with general target sets Γ, that is, without imposing any geometric assumptions on Γ.
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