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A filter for trajectories smoothing is presented. The filter provides an output reproducing the input trajectory if this is compliant with given constraints on the velocity, the acceleration and the torque required for tracking it. Otherwise, the filter approximates the input profile guaranteeing that the output trajectory satisfies all the kinematic and dynamic limits. The tracking of the input signal...
This paper describes a modification of authors' previous work on virtual potential methods for planning and guidance of autonomous underwater vehicles (AUVs) along trajectories in ℝ2 and ℝ3. The modification replaces the algebraic sampling procedure of scalar potentials, performed in the previous algorithm in order to allow for the numerical approximation of the true local gradient of the potential,...
Many interesting problems in numerical optimization are hybrid optimal control problems. Hybrid optimal control (HOC) problems include both continuous-valued variables and categorical variables in the problem formulation. For the types of problems envisioned here the categorical variables will specify the structure or sequence of events that qualitatively describes the trajectory or mission. Continuous...
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