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This paper presents an innovative 3D analytical algorithm for the resolution of the pair-wise non-cooperative collision avoidance problem between aircrafts. The proposed algorithm addresses the above described problem by using an innovative approach, based on the consideration of a cylindrical safety bubble, and it is able to obtain an optimal three-dimensional analytical solution for this problem...
The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with nonholonomic dynamic constraints. The authors propose an offline trajectory planning algorithm that provides a class of parametric trajectories to the unactuated joint in order to reach desired static configurations of the system...
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