Optimality for Underwater Vehicles

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.

(6 pages pdf)
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