The paper presents a solution to the problem of combined trajectory tracking and path following system design for underactuated mobile robots with non negligible dynamics. This problem is motivated by the practical need to develop control systems for mobile robots that can yield good trajectory tracking performance while keeping some of the properties that are normally associated with path foll...

Let G be a graph with the usual shortest-path metric. A graph is δ-hyperbolic if for every geodesic triangle T , any side of T is contained in a δ-neighborhood of the union of the other two sides. A graph is chordal if every induced cycle has at most three edges. In this paper we study the relation between the hyperbolicity of the graph and some chordality properties which are natural generaliz...

In this paper, we introduce a distributed algorithm for single source shortest path problem for undirected graphs. In this problem, we find the shortest path from a given source node to other nodes in the graph. We start with undirected unweighted graphs in which the shortest path is a path with minimum number of edges. Following, we modify the algorithm to find shortest path for weighted graph...

In this paper, the longest Hamiltonian cycle problem and the longest Hamiltonian path problem are proved to be NPO-complete. @ 1998 Published by Elsevier Science B.V.

We consider the fair Hamiltonian cycle Maker-Breaker game, played on the edge set of the complete graph Kn on n vertices. It is known that Maker wins this game if n is sufficiently large. We are interested in the minimum number of moves needed for Maker in order to win the Hamiltonian cycle game, and in the smallest n for which Maker has a winning strategy for this game. We prove the following ...

A vector field guidance law and control system for curved path following of an underactuated surface ship model is presented in this paper. In order to obtain the path, continuous derivatives piecewise cubic Hermite interpolation applied generation based on predefined waypoints. heading autopilot controller designed 2nd Nomoto’s its stability guaranteed by Diagram Vyshnegradsky method. The para...

The path length of a tree, that is the sum of the lengths of all root-leaf paths, is an important measure of eeciency of the tree. The fringe of a tree is the diierence between the lengths of the longest path and the shortest path in the tree. The minimal and the maximal path length of trees with N leaves and given fringe have been well studied. In this paper, we initiate the study of the expec...

In this paper, Shortest Path Design Problem (SPDP) in which the path is incident to all cells is considered. The bi-directional path is one of the known types of configuration of networks for Automated Guided Vehi-cles (AGV).To solve this problem, two algorithms are developed. For each algorithm an Integer Linear Pro-gramming (ILP) is determined. The objective functions of both algorithms are t...

in this paper, we consider a stochastic time-cost tradeoff problem (tctp) in pert networks for project management, in which all activities are subjected to a linear cost function and assumed to be exponentially distributed. the aim of this problem is to maximize the project completion probability with a pre-known deadline to a predefined probability such that the required additional cost is min...