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—The problem of determining a collision-free path for a mobile robot moving in a dynamically changing environment is addressed in this paper. By explicitly considering a kinematic model of the robot, the family of feasible trajectories and their corresponding steering controls are derived in a closed form and are expressed in terms of one adjustable(More)
—In this paper, a new framework based on matrix theory is proposed to analyze and design cooperative controls for a group of individual dynamical systems whose outputs are sensed by or communicated to others in an intermittent, dynamically changing , and local manner. In the framework, sensing/communication is described mathematically by a time-varying(More)
— It is well known that a nonlinear optimal control requires the solution to a two-point boundary value problem or to a nonlinear partial differential equation and that such a solution can only be obtained off line by numerical iteration. In this paper, a new and near-optimal control design framework is proposed for controlling any nonholonomic system in(More)
1073 an indicator of performance deterioration. Yet in general this might not be true. For example, consider the problem of the minimization of 1 0 + 1 1 + 1 0 Q(s) e 0sh ^ A by a stable Q(s), where the first term plays a role of 1(s). As Q(s) does not affect the second output, the norm cannot be made smaller than ke 0sh k ^ A = 1 and this level is achieved(More)
In this paper, we propose a cooperative control strategy for a group of robotic vehicles to achieve the specified task issued from a high-level astronaut command. The problem is mathematically formulated as designing the cooperative control for a general class of multiple-input-multiple-output (MIMO) dynamical systems in canonical form with arbitrary but(More)
—In this paper, we present two near-optimal methods to determine the real-time collision-free path for a mobile vehicle moving in a dynamically changing environment. The proposed designs are based on the polynomial parameterization of feasible trajectories by explicitly taking into account boundary conditions, kinematic constraints, and collision-avoidance(More)
In this paper, the real-time trajectory planning problem is considered for vehicles in the urban grand challenge. Typically, reference paths generated by a high level path planner are not feasible for vehicles and need improvement. In addition, moving obstacles in the environment are generally not known apriori, which also requires the paths to be able to(More)