in this paper, the problem of optimal path following for a high speed planing boat is addressed. first, a nonlinear mathematical model of the boat’s dynamics is derived and then the serret-frenet frame is presented to facilitate the path following control design. to satisfy the constraints on the states and the input controls of the boat's nonlinear dynamics and minimize both the cross tracking...

We address the following problem: Given a simple polygon $P$ with $n$ vertices and two points $s$ and $t$ inside it, find a minimum link path between them such that a given target point $q$ is visible from at least one point on the path. The method is based on partitioning a portion of $P$ into a number of faces of equal link distance from a source point. This partitioning is essentially a shor...

One of the main problems of car-like robot is robust path following in the presence of sliding effect. To tackle this problem, a robust mix H2/H∞ static state feedback control method is selected. This method is the well-known linear robust controller which is robust against external disturbance as well as model uncertainty. In this paper, the path following problem is formulated as linear matri...

In this paper, we deal to obtain some new complexity results for solving semidefinite optimization (SDO) problem by interior-point methods (IPMs). We define a new proximity function for the SDO by a new kernel function. Furthermore we formulate an algorithm for a primal dual interior-point method (IPM) for the SDO by using the proximity function and give its complexity analysis, and then we sho...

we give an algorithm, called t*, for finding the k shortest simplepaths connecting a certain pair of nodes, s and t, in a acyclic digraph.first the nodes of the graph are labeled according to the topologicalordering. then for node i an ordered list of simple s − i paths iscreated. the length of the list is at most k and it is created by usingtournament trees. we prove the correctness of t* and ...