“…This raises the issue of planning attitude maneuvers, desirably optimal in some sense, compatible with the pointing constraints. This question has been studied for some time (see, e.g., [1], [2], [3], [4]) and has, in recent years, attracted renewed interest (see, e.g., [5], [6], [7], [8], [9], [10]) due both to new demands from space missions and to progress in control-theoretical methods. In this paper we show that the approach used in [2] for the case of a single forbidden direction can be extended to the case of an arbitrary number of forbidden directions.…”