r . This paper investigates how a car-like mobile robot handles unexpected static obstacles while following a n optimal path planned by the global path planner. 'Ib find an optimal solution of the problem, the obstacle avoidance problem is formulated as a decision theoretic approach. The optimal decision rule we seek is to minimize the Bayes risk by trading off between deliberative man ver and ...

A non{interior path following algorithm is proposed for the linear complementarity problem. The method employs smoothing techniques introduced by Kanzow. If the LCP is P 0 +R 0 and satisses a non{degeneracy condition due to Fukushima, Luo, and Pang, then the algorithm is globally linearly convergent. As with interior point path following methods, the convergence theory relies on the notion of a...

In this paper a symmetric primal-dual transformation for positive semideenite programming is proposed. For standard SDP problems, after this symmetric transformation the primal variables and the dual slacks become identical. In the context of linear programming, existence of such a primal-dual transformation is a well known fact. Based on this symmetric primal-dual transformation we derive Newt...

In this research we consider the problem of path following control for a small fixedwing unmanned aerial vehicle (UAV). Assuming the UAV is equipped with an autopilot for low level control, we adopt a kinematic error model with respect to the moving Serret-Frenet frame attached to a path for tracking controller design. A kinematic path following control law that commands heading rate is present...

This paper investigates the coordinated path following of multiple marine vessels with speed saturation. Based on virtual leader strategy, the authors show how the neural dynamic model and passivity-based techniques are brought together to yield a distributed control strategy. The desired path following is achieved by means of a virtual dynamic leader, whose controller is designed based on the ...

We study the following problem k-constrained shortest path problem: given an acyclic directed graph D = (V,E) with arc weights ci,j , (i, j) ∈ E, two nodes s and t and an integer k, nd a shortest st-path containing at most k arcs. An important application of the problem in linear curve approximation is discussed. Vertices and edges of associated polytopes are determined, and integrality of thes...

This paper addresses the problem of cooperative path-following of multiple autonomous vehicles. Stated briefly, the problem consists in steering a group of vehicles along specified paths, while keeping a desired spatial formation arrangement. For a given class of autonomous surface vessels, it is shown how Lyapunov based techniques and graph theory can be brought together to design a decentrali...

This paper presents a computationally efficient flight optimization method for improving the fuel economy of a fixed-wing aircraft following a landing path during the descent and approach phases. The problem is converted to an optimal control problemwith one energy state variable, subject to state and control input constraints along the path. It is shown that the solution to the energy-optimal ...