Singularities' of Optimal-Time Function in One Class of Optimal-Time Control Problems Construction Algorithms

Singular lines and nonsmooth singularities of cost function in one class of optimal-time problems are studied. Equations for their end points are written. Their relation with the geometry of the goal set is shown. Connection of the optimal-time problem and the first order PDE with boundary condition is ascertained. Examples of some problems' solving and graphs of solutions are given.