@article{onthecomputationalconsequencesofcost,
  title = {On the Computational Consequences of Cost Function Design in Nonlinear Optimal Control},
  author = {Tyler Westenbroek and Anand Siththaranjan and Mohsin Sarwari and Claire J. Tomlin and Shankar S. Sastry},
  year = {2022},
  eprint = {2204.01986},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2204.01986v2},
}