Underwater vehicles: A surprising non time-optimal path

Proceedings of the IEEE Conference on Decision and Control

Volumn 3, Issue , 2003, Pages 2750-2755

  Chyba, M ^a  

^a UNIVERSITY OF HAWAII   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONTROL SYSTEMS; FUEL CONSUMPTION; HAMILTONIANS; MATRIX ALGEBRA; OPTIMIZATION; PROBLEM SOLVING; ROBOTICS; THEOREM PROVING; TOPOLOGY; TRAJECTORIES;

LIE BRACKETS; TIME-OPTIMAL PATHS; UNDERWATER VEHICLES;

MOTION PLANNING;

EID: 1542288423     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. M. Chyba, N.E. Leonard, E.D. Sontag, Optimality for underwater vehicles, Proceedings of the 40th Conference on Decision on Control, pp., 2001
2. M. Chyba, N.E. Leonard, E.D. Sontag, Singular trajectories in multi-input time-optimal problems. Application to controlled mechanical systems, Journal on Dynamical and Control Systems, Vol. 9 (1), pp. 73-88, 2003
3. M. Chyba, E.D. Sontag, Controllability of dynamic extensions with bounded controls: Application to controlled mechanical systems, in preparation
4. M.Chyba, R.N. Smith, G.R. Wilkens, S.K. Choi, Underwater vehicles: how to go faster?, in preparation
5. N.E. Leonard, Stability of a bottom-heavy underwater vehicle, Automatica, Vol 33, pp. 331-346, 1997.
6. L.S. Pontryagin and B. Boltyanski and R. Gamkrelidze and E. Michtchenko, The Mathematical Theory of Optimal Processes, Interscience, 1962, New York
7. S. Sekhavat, J.P. Laumond, Topological Property for Collision-Free Nonholonomic Motion Planning: the Case of Sinusoidal Inputs for Chained Form Systems, IEEE TRans. on Autom. and Control, Vol. 14(5), pp. 671-680, 1998