“…, n. The set of all feasible curves is denoted by X = X t 0 ,t 1 ,...,tn;x 0 ,x 1 ,...xn . Given also a nonempty set A of C 1 vector fields A on M , define J : (1) is the derivative of x with respect to t, and denotes the Riemannian norm. A minimizer (x, A) of J = J t 0 ,t 1 ,...,tn;x 0 ,x 1 ,...xn is said to be conditionally-optimal or just optimal.…”