Monique Chyba, Naomi Ehrich Leonard and Eduardo D. Sontag
Proc. of the 40th IEEE Conference on Decision and Control,
Orlando, FL, December 2001, 4204--4209.
In this paper, we study time-optimal trajectories for fully
actuated planar underwater vehicles, with constraints on input
forces. Using the Maximum Principle, we focus on the structure of
singular extremals and their possible optimality.