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Volume 4: Materials Technology; Ocean Engineering
From Pontryagin's Maximum Principle to the Duke Kahanamoku Aquatic Complex; we develop the theory and generate implementable time efficient trajectories for a testbed autonomous underwater vehicle (AUV). This paper is the beginning of the journey from theory to implementation. We begin by considering pure motion trajectories and move into a rectangular trajectory which is a concatenation of pure surge and pure sway. These trajectories are tested using our numerical model and demonstrated by ourdoi:10.1115/omae2007-29061 fatcat:f6w3s3p7gzhohanilsrpk2hfju