The regulatory endorsement of the International Maritime Organization (IMO) and the
support of pivotal shipping market players in recent years motivate the investigation of the …

This paper proposes a distributed control scheme for autonomous tugboats to tow a ship in a
restricted water traffic environment ensuring collision avoidance while being compliant with …

This paper focuses on the minimum-time trajectory planning in a structured environment for
a wheeled mobile robot with a trailer. The constraints which are accounted for include …

This study is focused on the maneuver planning problem for a tractor-trailer vehicle in a
curvy and tiny tunnel. Due to the curse of dimensionality, the prevalent sampling-and-search …

This article proposes a modification of hybrid A* method used for navigation of spherical
mobile robots with the ability of limited partial lateral movement driven by pendulum. For …

Optimization-based methods are commonly applied in autonomous driving trajectory
planners, which transform the continuous-time trajectory planning problem into a finite …

Trajectory planning for a tractor-trailer vehicle is challenging due to the non-convex collision
avoidance constraints and the unstable kinematics. This article aims to plan precise and …

Motion planning in unstructured and low-speed environments is a fundamental and difficult
task for all mobile robotics. If we view motion planning as an optimization problem, the non …

An optimal control problem is a straightforward description of a generic automatic parking
maneuver planning scheme. However, the dimensionality of the optimal control problem is …

A tractor-trailer system is an underactuated system that is subject to nonholonomic
constraints and exhibits extremely nonlinear behaviors. Its trajectory planning and control …