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Here we propose a simplified model for the path planning of an Autonomous Underwater Vehicle (AUV) in an horizontal plane when ocean currents are considered. The model includes kinematic equations and a simple dynamic equation. Our problem of interest is a minimum time problem with state constraints where the control appears linearly. This problem is solved numerically using the direct method. We...
The problem of 2-dimensional vehicle path following under adversarial behavior is considered. The objective is to keep the cross-track error to the reference path inside a given tolerance interval. The adversarial behavior models system uncertainty and unknown or poorly estimated bounded disturbances. The first step to that objective is the computation of an invariant set, namely the maximal set of...
In this paper, we consider a decentralized control problem for suppressing the traffic jam phenomenon in traffic flow. To analyze the phenomenon, we use the so-called optimal velocity model. In the model, the optimal velocity function which is a nonlinear function of the headway of the preceding vehicle describes driver's characteristics. Without affecting the characteristics, all vehicles in traffic...
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