On the Set of Points of Smoothness for the Value Function of Affine Optimal Control Problems. - Davide Barilari; Francesco Boarotto (SIAM J. Control. Optim., 2018)

Fuller Singularities for Generic Control-Affine Systems with an Even Number of Controls. - Francesco Boarotto; Yacine Chitour; Mario Sigalotti (SIAM J. Control. Optim., 2020)

When does the evoluted set have negligible boundary? - Francesco Boarotto; Francesco Rossi (CDC, 2021)

On the Lebesgue measure of the boundary of the evoluted set. - Francesco Boarotto; Laura Caravenna; Francesco Rossi; Davide Vittone (Syst. Control. Lett., 2021)