Desingularization of the Sweeping Process Mapping

In [9], the celebrated K{\L}-inequality has been extended from definable functions $f:\mathbb{R}^{n}\rightarrow\mathbb{R}$ to definable multivalued maps $S:\mathbb{R}\rightrightarrows\mathbb{R}^{n}$, by establishing that the co-derivative mapping $D^{\ast}S$ admits a desingularization around every critical value. As was the case in the gradient dynamics, this desingularization yields a uniform control of the lengths of all bounded orbits of the corresponding sweeping process $-\dot{\gamma}(t)\in N_{S(t)}(\gamma(t))$. In this paper, working outside the framework of o-minimal geometry, we characterize the existence of a desingularization for the coderivative in terms of the behaviour of the sweeping process orbits and the integrability of the talweg function. These results are close in spirit with the ones in [3], where characterizations for the desingularization of the (sub)gradient of functions had been obtained.