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In this paper, we focus on the motion planning problem (MPP) of a generalized Dubins vehicle (GDV) with higher order dynamics, aiming at mitigating the drawbacks caused by the lack of smoothness of the Dubins curves. In the two‐dimensional case, the MPP is converted, by exploiting the Pontryagin maximum principle, into the problem of solving a set of algebraic equations (AEs). The solution of the...
This paper concerns the global controllability of general nonlinear control systems, which is intimately related to their defining vector fields. We give a necessary and sufficient condition by studying how to enlarge the defining set of vector fields without changing its controllability. Four such approaches are obtained. First, for a given set of vector fields, if one of them is reversible, then...
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