Brachistochrone with Coulomb friction as the solution of an isoperimetrical variational problem

The problem of finding the plane supporting curve (brachistochrone) along which a heavy particle released from rest at the given starting point slides with dry (Coulomb) friction and reaches the given destination point in least time, is stated as a variational isoperimetrical problem. The finite parametric equations of the extremal curve are obtained. This curve is the sought-for brachistochrone if the solution of the problem exists. Several numerical examples are given.