A method combining planning and reactive control for car-like nonholonomic mobile robots
is discussed. Firstly, a" bubble" for a car-like mobile robot is defined as the locally reachable …

This paper describes analysis of steady motions for underwater gliders, a type of highly
efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are …

This note addresses the problem of reachable set synthesis of discrete-time Markov jump
systems (MJSs) with time-varying delays and mismatched modes. The objective is to design …

This paper shows how to compute the nonholonomic distance between a pointwise car-like
robot and polygonal obstacles. Geometric constructions to compute the shortest paths from a …

We consider a variation of the classical Markov–Dubins problem dealing with curvature-
constrained, shortest paths in the plane with prescribed initial and terminal positions and …

Underwater gliders are highly efficient, winged autonomous underwater vehicles that propel
themselves by modifying their buoyancy and their center of mass. The center of mass is …

In this paper, we characterize the time-optimal trajectories leading a Dubins car in collision
with the obstacles in its workspace. Due to the constant velocity constraint characterizing the …

In 1889, Andrey Andreevich Markov published a paper in “Soobscenija Charkovskogo
Matematiceskogo Obscestva” where he considered four mathematical problems related to …

This paper shows how to compute the nonholonomic distance between a polygonal car-like
robot and polygonal obstacles. The solution extends previous work of Reeds and Shepp by …

This paper describes analysis of steady motions for underwater gliders, a type of highly
efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are …