Human gait analysis is a complex problem in biomechanics because of highly nonlinear
human motion equations, muscle dynamics, and foot-ground contact. Despite a large …

This paper shows the planning of time-optimal trajectories, which allows an autonomous
race car to drive at the handling limits, taking into account locally changing road friction …

Abstract The Forward-Backward Sweep Method is a numerical technique for solving optimal
control problems. The technique is one of the indirect methods in which the differential …

Minimum lap time simulations are especially important in the design, optimisation and setup
of race vehicles. Such problems usually come in different flavours, eg quasi-steady state …

Recent advances in theory, algorithms, and computational power make it possible to solve
complex, optimal control problems both for off-line and on-line industrial applications. This …

Dynamics and Optimal Control of Road Vehicles uniquely offers a unified treatment of tyre,
car and motorcycle dynamics, and the application of nonlinear optimal control to vehicle …

The paper begins with a survey of advances in state-of-the-art minimum-time simulation for
road vehicles. The techniques covered include both quasi-steady-state and transient vehicle …

This paper investigates the minimum time/limit handling car manoeuvring through nonlinear
optimal control techniques. The resulting 'optimal driver'controls the car at its physical limits …

A new algorithm for the solution to the problem of Hermite G1 interpolation with a clothoid
curve is herein proposed, that is, a clothoid that interpolates two given points in a plane with …

This position paper introduces the concept of artificial “co-drivers” as an enabling technology
for future intelligent transportation systems. In Sections I and II, the design principles of co …