Systematically eliminate Lagrange multipliers in transversality conditions

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The transversality conditions in an optimal space flight problem will contain unknown Lagrange multipliers. They increase the difficulty in solving the problem numerically by an indirect method. To eliminate them, it used to rely on inspection and some artful algebraic manipulations. This paper provides a really neat and systematic technique to cut out the "art" part in the effort. The applications include optimal launch ascent and orbital transfers

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