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  The Minimum-Time Crashing Problem for the Dubins' Car

Robuffo Giordano, P., & Vendittelli, M. (2006). The Minimum-Time Crashing Problem for the Dubins' Car. IFAC Proceedings Volumes, 580-585.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-D055-A Version Permalink: http://hdl.handle.net/21.11116/0000-0004-99FA-6
Genre: Conference Paper

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 Creators:
Robuffo Giordano, P1, Author              
Vendittelli, M, Author
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: This paper determines the time-optimal trajectories bringing a car-like robot, whose driving velocity is constrained to be strictly positive (Dubins’ car), in collision with the obstacles in its workspace. Both the robot and the obstacles are assumed to have polygonal shape. Based on these trajectories, a distance function is defined and computed that takes into account the nonholonomic constraints and captures the non-symmetric nature of the system.

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 Dates: 2006-09
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Method: -
 Identifiers: BibTex Citekey: 5563
DOI: 10.3182/20060906-3-IT-2910.00097
 Degree: -

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Title: 8th International IFAC Symposium on Robot Control (SYROCO 2006)
Place of Event: Bologna, Italy
Start-/End Date: 2006-09-06 - 2006-09-08

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Title: IFAC Proceedings Volumes
Source Genre: Journal
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Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 580 - 585 Identifier: ISSN: 1474-6670