Here is a problem I've been trying to sort out and I can't get, I think it's kind of an interesting one. Imagine a drone and a target point on a 2d plane. There are eight parameters: P = my position Q = target's position V = my velocity I = my moment of inertia w = my angular velocity s = my angular position T = max thrust U = max torque (we'll just say the target is stationary) The drone's job is to get to the target as fast as possible, obeying max torque and max thrust. Let's say the drone checks an equation at time interval t (maybe something like every .01 seconds) and adjusts its torque and thrust accordingly. What should the equations for thrust and torque be? I'm guessing some programming-like if statements and stuff are required to check if max torque and thrust are obeyed, or something, so that stuff is allowed.