Quadratic convergence algorithms for the problem of capture of a point by a family of convex bodies

We consider the nonlinear optimal control problem with an integral functional in which the integrand function is the characteristic function of a given closed set in the phase space. The approximation method is applied to prove the necessary conditions of optimality in the form of the Pontryagin maximum principle without any prior assumptions on the behavior of the optimal trajectory. Similarly to the case of phase-constrained problems, we derive conditions of nondegeneracy and pointwise nontriviality of the maximum principle. __________ Translated from Nelineinaya Dinamika i Upravlenie, No. 4, pp. 241–256, 2004.