We propose to solve global optimal control problems with a new algorithm that is based on Bock's direct multiple shooting method. We provide conditions and numerical evidence for a significant overall runtime reduction compared to the standard single shooting approach.
Optimal Control Applications and Methods, Vol. 39 (2), pp. 449--470, 2017 DOI 10.1002/oca.2324 Article online https://onlinelibrary.wiley.com/doi/full/10.1002/oca.2324