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Under some broad assumptions the sequence of trajectories is shown to converge to a trajectory that satisfies the maximum principle. The main advantages of the leapfrog algorithm are that (i) it does not need an initial guess for the costates and (ii) the piecewise-optimal trajectory generated in each iteration is feasible. These are illustrated through a numerical implementation of leapfrog on a problem involving the van der Pol system.<\/jats:p>","DOI":"10.1137\/060675034","type":"journal-article","created":{"date-parts":[[2008,7,23]],"date-time":"2008-07-23T14:45:10Z","timestamp":1216824310000},"page":"2795-2817","source":"Crossref","is-referenced-by-count":18,"title":["Leapfrog for Optimal Control"],"prefix":"10.1137","volume":"46","author":[{"given":"C. Yal\u00e7in","family":"Kaya","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J. 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