Extremals of a Left-Invariant Sub-Finsler Metric on the Engel Group

V. N. Berestovskii, I. A. Zubareva

Research output: Contribution to journalArticlepeer-review


Using the Pontryagin maximum principle for the time-optimal problem in coordinates of the first kind,we find the extremals of an arbitrary left-invariant sub-Finsler metric on the Engel group defined by a distribution of rank 2.

Original languageEnglish
Pages (from-to)575-588
Number of pages14
JournalSiberian Mathematical Journal
Issue number4
Publication statusPublished - 1 Jul 2020


  • (ab)normal extremal
  • extremal
  • left-invariant sub-Finsler metric
  • optimal control
  • polar curve
  • Pontryagin maximum principle

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