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Minimal time synthesis for a kinematic drone model
2017
Mathematical Control and Related Fields
In this paper, we consider a (rough) kinematic model for a UAV flying at constant altitude moving forward with positive lower and upper bounded linear velocities and positive minimum turning radius.For this model, we consider the problem of minimizing the time travelled by the UAV starting from a general configuration to connect a specified target being a fixed circle of minimum turning radius.The time-optimal synthesis is presented as a partition of the state space which defines a unique
doi:10.3934/mcrf.2017009
fatcat:vtdfgwwmvncfbobr4ffbwpynkm