Motion planning is not only a crucial issue in control theory, but also a widespread task of all sort of human activities.
The aim of the project-team is to study the various aspects preceding and framing *motion planning*: accessibility analysis (determining which configurations are attainable), criteria to make choice among possible trajectories, trajectory tracking (fixing a possibly unfeasible trajectory and following it as closely as required), performance analysis (determining the cost of a tracking strategy), design of implementable algorithms,
robustness of a control strategy with respect to computationally motivated discretizations, etc.
The viewpoint that we adopt comes from geometric control:
our main interest is in
qualitative and intrinsic properties and our focus is on trajectories (either individual ones or families of them).

The main application domain of GECO
is *quantum control*.
The importance of designing efficient transfers between
different
atomic or molecular levels in atomic and molecular physics
is due to its applications to
photochemistry (control by laser pulses of chemical reactions), nuclear magnetic resonance (control by a magnetic field of spin dynamics)
and, on a more distant time horizon,
the strategic
domain of
quantum computing.

A second application area
concerns the control interpretation of phenomena appearing in *neurophysiology*.
It studies
the modeling of the mechanisms supervising
some biomechanics actions or sensorial reactions such as image reconstruction by the primary visual cortex, eyes movement and body
motion.
All these problems can be seen as motion planning
tasks accomplished by the brain.

As a third applicative domain we propose
a system dynamics approach to *switched systems*.
Switched systems are characterized by
the interaction of continuous dynamics (physical system) and
discrete/logical components.
They provide a popular modeling framework for
heterogeneous aspects
issuing from
automotive and transportation industry, energy
management and factory automation.

The main research topic of the project-team will be
**geometric control**, with a special focus on **control design**.
The application areas that we target are control of
quantum mechanical systems,
neurogeometry and
switched
systems.

Geometric control theory provides a viewpoint and several tools, issued in particular from differential geometry, to tackle typical questions arising in the control framework: controllability, observability, stabilization, optimal control... , The geometric control approach is particularly well suited for systems involving nonlinear and nonholonomic phenomena. We recall that nonholonomicity refers to the property of a velocity constraint that is not equivalent to a state constraint.

The expression **control design** refers here to all phases of the
construction of a control law, in a mainly open-loop perspective:
modeling, controllability analysis, output tracking, motion planning, simultaneous control algorithms, tracking algorithms,
performance comparisons for control and tracking algorithms, simulation and implementation.

We recall that

**controllability** denotes the property of a system for which any two states can be connected by a trajectory corresponding to an admissible control law ;

**output tracking** refers to a control strategy aiming at keeping the value of some functions of the state arbitrarily close to a prescribed time-dependent profile. A typical example is **configuration tracking** for a mechanical system, in which the controls act as forces and
one prescribes the position variables along the trajectory, while the evolution of the momenta is free. One can think for instance at the lateral movement of a car-like vehicle: even if such a movement is unfeasible, it can be tracked with arbitrary precision by applying a suitable control strategy;

**motion planning** is the expression usually denoting the algorithmic strategy for selecting one control law steering the system from a given initial state to an attainable final one;

**simultaneous control** concerns algorithms that aim at driving the system from two different initial conditions, with the same control law and over the same time interval, towards two given final states (one can think, for instance, at some control action on a fluid whose goal is to steer simultaneously two floating bodies.)
Clearly, the study of which pairs (or

At the core of control design is then the notion of motion planning. Among the motion planning methods, a preeminent role is played by those based on the Lie algebra associated with the control system ( , , ), those exploiting the possible flatness of the system ( ) and those based on the continuation method ( ). Optimal control is clearly another method for choosing a control law connecting two states, although it generally introduces new computational and theoretical difficulties.

Control systems with special structure, which are very important for applications
are those for which the controls appear linearly. When the controls are not bounded, this means that the admissible velocities form a distribution in the tangent bundle to the state manifold. If the distribution is equipped with a smoothly varying norm (representing a cost of the control), the resulting geometrical structure is called
*sub-Riemannian*.
Sub-Riemannian geometry thus appears as the underlying geometry of the nonholonomic control systems, playing the same role as Euclidean geometry for linear systems. As such, its study is fundamental for control design. Moreover its importance goes far beyond control theory and is an active field of research both in differential geometry ( ), geometric measure theory ( , ) and hypoelliptic operator theory ( ).

Other important classes of control systems are those modeling mechanical systems. The dynamics are naturally defined on the tangent or cotangent bundle of the configuration manifold, they have Lagrangian or Hamiltonian structure, and the controls act as forces. When the controls appear linearly, the resulting model can be seen somehow as a second-order sub-Riemannian structure (see ).

The control design topics presented above naturally extend to the case of distributed parameter control systems. The geometric approach to control systems governed by partial differential equations is a novel subject with great potential. It could complement purely analytical and numerical approaches, thanks to its more dynamical, qualitative and intrinsic point of view. An interesting example of this approach is the paper about the controllability of Navier–Stokes equation by low forcing modes.

The issue of designing efficient transfers between different atomic or molecular levels is crucial in atomic and molecular physics, in particular because of its importance in those fields such as photochemistry (control by laser pulses of chemical reactions), nuclear magnetic resonance (NMR, control by a magnetic field of spin dynamics) and, on a more distant time horizon, the strategic domain of quantum computing. This last application explicitly relies on the design of quantum gates, each of them being, in essence, an open loop control law devoted to a prescribed simultaneous control action. NMR is one of the most promising techniques for the implementation of a quantum computer.

Physically, the control action is realized by exciting the quantum system by means of one or several external fields, being them magnetic or electric fields. The resulting control problem has attracted increasing attention, especially among quantum physicists and chemists (see, for instance, , ). The rapid evolution of the domain is driven by a multitude of experiments getting more and more precise and complex (see the recent review ). Control strategies have been proposed and implemented, both on numerical simulations and on physical systems, but there is still a large gap to fill before getting a complete picture of the control properties of quantum systems. Control techniques should necessarily be innovative, in order to take into account the physical peculiarities of the model and the specific experimental constraints.

The area where the picture got clearer is given by finite dimensional linear closed models.

**Finite dimensional** refers to the dimension of the space of wave functions, and, accordingly, to the finite number of energy levels.

**Linear** means that the evolution of the system for a fixed (constant in time) value of the control is determined by a linear vector field.

**Closed** refers to the fact that the systems are assumed to be totally disconnected from
the environment, resulting in the conservation of
the norm of the wave function.

The resulting model is well suited for describing spin systems and also arises naturally when infinite dimensional quantum systems of the type discussed below are replaced by their finite dimensional Galerkin approximations. Without seeking exhaustiveness, let us mention some of the issues that have been tackled for finite dimensional linear closed quantum systems:

controllability ,

bounds on the controllability time ,

STIRAP processes ,

simultaneous control ,

numerical simulations .

Several of these results use suitable transformations or approximations (for instance the so-called rotating wave) to reformulate the finite-dimensional Schrödinger equation as a sub-Riemannian system. Open systems have also been the object of an intensive research activity (see, for instance, , , , ).

In the case where the state space is infinite dimensional,
some optimal control results are known (see, for instance, , , , ).
The controllability issue is less understood than in the finite dimensional setting, but
several advances should be mentioned.
First of all, it is known
that one cannot expect exact controllability on the whole Hilbert sphere .
Moreover, it has been shown that a relevant model, the quantum oscillator, is not even approximately controllable , .
These negative results have been more recently completed by positive ones.
In ,
Beauchard and Coron obtained the first positive controllability result for a quantum particle in a 1D potential well.
The result is highly nontrivial and is based on Coron's return method (see ).
Exact controllability is proven to hold among regular enough wave functions. In particular, exact controllability among eigenfunctions of the uncontrolled Schrödinger operator can be achieved. Other important approximate controllability results have then been proved using Lyapunov methods , , . While studies a controlled Schrödinger equation in

In all the positive results recalled in the previous paragraph, the quantum system is steered by a single external field. Different techniques can be applied in the case of two or more external fields, leading to additional controllability results , .

The picture is even less clear for nonlinear models, such as Gross–Pitaevski and Hartree–Fock equations. The obstructions to exact controllability, similar to the ones mentioned in the linear case, have been discussed in . Optimal control approaches have also been considered , . A comprehensive controllability analysis of such models is probably a long way away.

At the interface between neurosciences, mathematics, automatics and humanoid robotics, an entire new approach to neurophysiology is emerging. It arouses a strong interest in the four communities and its development requires a joint effort and the sharing of complementary tools.

A family of extremely interesting problems concerns the understanding of the mechanisms supervising some sensorial reactions or biomechanics actions such as image reconstruction by the primary visual cortex, eyes movement and body motion.

In order to study these phenomena, a promising approach consists in identifying the motion planning problems undertaken by the brain, through the analysis of the strategies that it applies when challenged by external inputs. The role of control is that of a language allowing to read and model neurological phenomena. The control algorithms would shed new light on the brain's geometric perception (the so-called neurogeometry ) and on the functional organization of the motor pathways.

A challenging problem is that of the understanding of the mechanisms which are responsible for the process of image reconstruction in the primary visual cortex V1.

The visual cortex areas composing V1 are notable for their complex spatial organization and their functional diversity. Understanding and describing their architecture requires sophisticated modeling tools. At the same time, the structure of the natural and artificial images used in visual psychophysics can be fully disclosed only using rather deep geometric concepts. The word “geometry" refers here to the internal geometry of the functional architecture of visual cortex areas (not to the geometry of the Euclidean external space). Differential geometry and analysis both play a fundamental role in the description of the structural characteristics of visual perception.

A model of human perception based on a simplified description of the visual cortex V1, involving geometric objects typical of control theory and sub-Riemannian geometry, has been first proposed by Petitot ( ) and then modified by Citti and Sarti ( ). The model is based on experimental observations, and in particular on the fundamental work by Hubel and Wiesel who received the Nobel prize in 1981.

In this model, neurons of V1 are grouped into orientation columns,
each of them being sensitive to visual stimuli arriving at a given point of the
retina and oriented along a given direction. The retina is modeled by the real
plane, while the directions at a given point are modeled by the
projective line. The fiber bundle having as base the real plane and
as fiber the projective line is called the *bundle of directions of
the plane*.

From the neurological point of view, orientation columns are in turn grouped into hypercolumns, each of them sensitive to stimuli arriving at a given point, oriented along any direction. In the same hypercolumn, relative to a point of the plane, we also find neurons that are sensitive to other stimuli properties, such as colors. Therefore, in this model the visual cortex treats an image not as a planar object, but as a set of points in the bundle of directions of the plane. The reconstruction is then realized by minimizing the energy necessary to activate orientation columns among those which are not activated directly by the image. This gives rise to a sub-Riemannian problem on the bundle of directions of the plane.

Another class of challenging problems concern the functional organization of the motor pathways.

The interest in establishing a model of the motor pathways, at the same time mathematically rigorous and biologically plausible, comes from the possible spillovers in robotics and neurophysiology. It could help to design better control strategies for robots and artificial limbs, yielding smoother and more progressive movements. Another underlying relevant societal goal (clearly beyond our domain of expertise) is to clarify the mechanisms of certain debilitating troubles such as cerebellar disease, chorea and Parkinson's disease.

A key issue in order to establish a model of the motor pathways is to determine the criteria underlying the brain's choices. For instance, for the problem of human locomotion (see ), identifying such criteria would be crucial to understand the neural pathways implicated in the generation of locomotion trajectories.

A nowadays widely accepted paradigm is that, among all possible movements, the accomplished ones satisfy suitable optimality criteria (see for a review). One is then led to study an inverse optimal control problem: starting from a database of experimentally recorded movements, identify a cost function such that the corresponding optimal solutions are compatible with the observed behaviors.

Different methods have been taken into account in the literature to tackle this kind of problems, for instance in the linear quadratic case or for Markov processes . However all these methods have been conceived for very specific systems and they are not suitable in the general case. Two approaches are possible to overcome this difficulty. The direct approach consists in choosing a cost function among a class of functions naturally adapted to the dynamics (such as energy functions) and to compare the solutions of the corresponding optimal control problem to the experimental data. In particular one needs to compute, numerically or analytically, the optimal trajectories and to choose suitable criteria (quantitative and qualitative) for the comparison with observed trajectories. The inverse approach consists in deriving the cost function from the qualitative analysis of the data.

Switched systems form a subclass of hybrid systems, which themselves constitute a key growth area in automation and communication technologies with a broad range of applications. Existing and emerging areas include automotive and transportation industry, energy management and factory automation. The notion of hybrid systems provides a framework adapted to the description of the heterogeneous aspects related to the interaction of continuous dynamics (physical system) and discrete/logical components.

The characterizing feature of switched systems is the collective aspect of the dynamics. A typical question is that of stability, in which one wants to determine whether a dynamical system whose evolution is influenced by a time-dependent signal is uniformly stable with respect to all signals in a fixed class ( ).

The theory of finite-dimensional hybrid and switched systems has been the subject of intensive research in the last decade and a large number of diverse and challenging problems such as stabilizability, observability, optimal control and synchronization have been investigated (see for instance , ).

The question of stability, in particular, because of its
relevance for applications, has spurred a rich literature. Important contributions
concern the notion of common Lyapunov function: when there exists a Lyapunov function that decays along all possible modes of the system (that is, for every possible constant value of the signal), then the system is uniformly asymptotically stable. Conversely, if the system is stable uniformly with respect to all signals switching in an arbitrary way, then a common Lyapunov function exists .
In the *linear* finite-dimensional case,
the existence of a common Lyapunov function
is actually equivalent to the
global uniform exponential
stability of the system and, provided that the admissible modes are finitely many,
the Lyapunov function can be taken polyhedral or polynomial
, , .
A special role in the switched control literature has been played by common
quadratic Lyapunov functions, since their existence can be tested rather efficiently (see and references therein).
Algebraic approaches to prove the stability of switched systems under arbitrary switching, not relying on Lyapunov techniques, have been proposed in , .

Other interesting issues concerning the stability of switched systems arise when, instead of considering arbitrary switching, one restricts the class of admissible signals, by imposing, for instance, a dwell time constraint .

Another rich area of research concerns discrete-time switched systems, where new intriguing phenomena appear, preventing the algebraic characterization of stability even for small dimensions of the state space . It is known that, in this context, stability cannot be tested on periodic signals alone .

Finally, let us mention that little is known about infinite-dimensional switched system, with the exception of some results on uniform asymptotic stability ( , , ) and some recent papers on optimal control ( , ).

We develop a software for reconstruction of corrupted and damaged images, named IRHD (for Image Reconstruction via Hypoelliptic Diffusion). One of the main features of the algorithm on which the software is based is that it does not require any information about the location and character of the corrupted places. Another important advantage is that this method is massively parallelizable; this allows to work with sufficiently large images. Theoretical background of the presented method is based on the model of geometry of vision due to Petitot, Citti and Sarti. The main step is numerical solution of the equation of 3D hypoelliptic diffusion. IRHD is based on Fortran.

We organized a thematic trimester on “Geometry, analysis and dynamics on sub-Riemannian manifolds” at the Institut Henri Poincaré (IHP), including 4 workshops, 4 research courses, 8 thematic days, several seminars. We also organized an associated school at CIRM with 4 introductory courses. The web pages of the events are:

Let us list some new results in sub-Riemannian geometry and hypoelliptic diffusion obtained by GECO's members.

In the study of conjugate times in sub-Riemannian geometry, linear quadratic optimal control problems show up as model cases.
In
we consider a dynamical system with a constant, quadratic Hamiltonian

A 3D almost-Riemannian manifold is a generalized Riemannian manifold defined locally by 3 vector fields that play the role of an orthonormal frame, but could become collinear on some set called the singular set. Under the Hormander condition, a 3D almost-Riemannian structure still has a metric space structure, whose topology is compatible with the original topology of the manifold. Almost-Riemannian manifolds were deeply studied in dimension 2. In we start the study of the 3D case which appear to be reacher with respect to the 2D case, due to the presence of abnormal extremals which define a field of directions on the singular set. We study the type of singularities of the metric that could appear generically, we construct local normal forms and we study abnormal extremals. We then study the nilpotent approximation and the structure of the corresponding small spheres. We finally give some preliminary results about heat diffusion on such manifolds.

New results on automatic control and motion planning for various type of applicative domains are the following.

In and we present new results on the path planning problem in the case study of the car with trailers. We formulate the problem in the framework of optimal nonholonomic interpolation and we use standard techniques of nonlinear optimal control theory for deriving hyperelliptic signals as controls for driving the system in an optimal way. The hyperelliptic curves contain as many loops as the number of nonzero Lie brackets generated by the system. We compare the hyperelliptic signals with the ordinary Lissajous-like signals that appear in the literature, we conclude that the former have better performance.

We conclude the section by mentioning the book that we edited, collecting some papers in honour of Andrei A. Agrachev for his 60th birthday. The book contains new results on sub-Riemannian geometry and more generally on the geometric theory of control.

New results have been obtained for the control of the bilinear Schrödinger equation.

In and
we consider the problem of minimizing

In and we give a collection of converse Lyapunov–Krasovskii theorems for uncertain retarded differential equations. We show that the existence of a weakly degenerate Lyapunov–Krasovskii functional is a necessary and sufficient condition for the global exponential stability of the linear retarded functional differential equations. This is carried out using the switched system transformation approach.

Consider a continuous-time linear switched system on

Project *Stabilité des systèmes à excitation persistante*, Program MathIng, Labex LMH, 2013-2016.
This project is about different stability properties for systems whose damping is intermittently activated.
The coordinator is Mario Sigalotti. The other members are Yacine Chitour and Guilherme Mazanti.

**Digitéo project 2012-061D SSyCoDyC.**
SSyCoDyC (2013–2014) is financed by
Digitéo in the framework of the DIM *Hybrid Systems and Sensing Systems*.
It focuses on the application of techniques of hybrid systems to the analysis of
retarded equations with time-varying delays.
SSyCoDyC has financed the post-doc fellowship of Ihab Haidar and was coordinated by Paolo Mason and Mario Sigalotti.

iCODE is the Institute for Control and Decision of the Idex Paris Saclay. It was launched in March 2014 for two years until June 2016. iCODE's aims are fostering research, spin-offs creation, training and diffusion of Control and Decision in Paris-Saclay. To those aims, iCODE has received a budget of 980Keuros, supported by *investissements d'avenir*.
The scientific topics addressed by iCODE are organized in four research initiatives:

Control & Neuroscience

Large-scale systems & Smart grids

Behavioral Economics

White research initiative.

iCODE is coordinated by Yacine Chitour (L2S-Univ. Paris Sud), associated member and collaborator of GECO. Mario Sigalotti is member of the Steering Committee.

Program: ERC Starting Grant

Project acronym: GeCoMethods

Project title: Geometric Control Methods for the Heat and Schroedinger Equations

Duration: 1/5/2010 - 1/5/2015

Coordinator: Ugo Boscain

Abstract: The aim of this project is to study certain PDEs for which geometric control techniques open new horizons. More precisely we plan to exploit the relation between the sub-Riemannian distance and the properties of the kernel of the corresponding hypoelliptic heat equation and to study controllability properties of the Schroedinger equation.

All subjects studied in this project are applications-driven: the problem of controllability of the Schroedinger equation has direct applications in Laser spectroscopy and in Nuclear Magnetic Resonance; the problem of nonisotropic diffusion has applications in cognitive neuroscience (in particular for models of human vision).

Participants. Main collaborator: Mario Sigalotti. Other members of the team: Andrei Agrachev, Riccardo Adami, Thomas Chambrion, Grégoire Charlot, Yacine Chitour, Jean-Paul Gauthier, Frédéric Jean.

SISSA (Scuola Internazionale Superiore di Studi Avanzati), Trieste, Italy.

Sector of Functional Analysis and Applications, Geometric Control group. Coordinator: Andrei A. Agrachev.

We collaborate with the Geometric Control group at SISSA mainly on subjects related with sub-Riemannian geometry. Thanks partly to our collaboration, SISSA has established an official research partnership with École Polytechnique.

Laboratoire Euro Maghrébin de Mathématiques et de leurs Interactions (LEM2I)

GDRE Control of Partial Differential Equations (CONEDP)

Davide Barilari, Ugo Boscain and Mario Sigalotti were organizers of the IHP trimester “Geometry, Analysis and Dynamics on Sub-Riemannian Manifolds”, Fall 2014, Institut Henri Poincaré, Paris.

Ugo Boscain and Mario Sigalotti were organizers of the CIRM School (Marseille) “Sub-Riemannian manifolds: from geodesics to hypoelliptic diffusion”, September 2014.

Ugo Boscain is Associate Editor of SIAM Journal of Control and Optimization

Ugo Boscain is Managing Editor of Journal of Dynamical and Control Systems

Mario Sigalotti is Associate Editor of Journal of Dynamical and Control Systems

Ugo Boscain is Associate Editor of ESAIM Control, Optimisation and Calculus of Variations

Ugo Boscain is Associate Editor of Mathematical Control and Related Fields

Ugo Boscain is Associate editor of Analysis and Geometry in Metric Spaces

PhD: Moussa Gaye, “Some problems of geometric analysis in almost-Riemannian geometry and of stability of switching systems", supervisors: Ugo Boscain, Yacine Chitour, Paolo Mason, defended in November 2014.

PhD in progress: Guiherme Mazanti, “Stabilité et taux de convergence pour les systèmes à excitation persistante", started in 1/9/2013, supervisors: Yacine Chitour, Mario Sigalotti.

Ugo Boscain was referee for the PhD thesis of Sylvain Arguillere, Paris 6, July 2014.

Ugo Boscain was member of the commission for the PhD defense of Laurent Sifre, Ecole Polytechnique, October 2014.

Mario Sigalotti was member of the commission for the PhD defense of Dolly Tatiana Manrique Espindola, Université de Lorraine, December 2014.

Ugo Boscain was member of the commission for the HDR of Gregoire Charlot, Universite de Grenoble, September 2014.

Mario Sigalotti was member of the commission for a MCF position at INPT ENSEEIHT, Toulouse.

Ugo Boscain was member of the jury for positions of CR at INSMI.