This paper presents an integrated optimal control framework for velocity and steering control of an autonomous pursuit vehicle, where the control objectives satisfy the requirements of collision avoidance and moving target tracking. A distinctive feature of the proposed velocity and steering control is the application of logarithmic penalty functions to both. The control barrier imposed by logarithmic function provides a unique tool in computing a balanced trajectory with optimal tracking error, control effort and safety margin. Trajectories compliant with the safety regulations for autonomous driving have been planned based on estimated intention of the target and the obstacles. Effects of the controller weights have been extensively simulated to assess the performance of the proposed strategy in a variety of dynamic situations. The controller has been validated on a real-life robot by using a shrinking horizon control policy for iterative optimisation.

This paper presents a real-time algorithm for modifying the trajectory of a manipulator approaching a moving target. The algorithm is based on the superposition scheme; a model developed based on human motion behavior. The algorithm generates a smooth trajectory toward the new target by calculating the vectorial sum between the first trajectory (initial position and first target) and second trajectory (between first and second target location). The algorithm searches for the switch hme that will result in a minimum time trajectory. The idea of the algorithm is to define some domain where the optimal switching time can be found, reduce this domain as much as possible to decrease the number of the points that must be checked and try every remaining candidate in this domain to find numerically the best (optimal) switch time. The algorithm was implemented on an Adept-one robotic system taking into account velocity constraints. The actual velocity profile was found to be less smooth than specified by the mathematical model. When the switch occurs at the middle of the trajectory when the speed is close to its maximum, the change in the movement direction is performed more gently.

A target is assumed to choose its starting position in a search at an unknown position in a finite search space. No prior probability distribution for the target's initial location is assumed. During the search the target is assumed to move from position to position in the search space according to a Markov process. A search is defined to be the observation of a sequence of random variables. Representations for the minimax estimator for target location at any stage of the search, the least favorable prior distribution for the target, and the value of the estimation game are presented. An example is computed in which Bayes estimators are compared with minimax estimators for target location.

A target is assumed to move according to a Wiener process in ℝ1. The probability of detecting the target is computed in terms of the search effort which accumulates along the target's path. Under certain independence assumptions this probability is given by the expectation of an exponential functional of the process. It is shown in this note that the failure probability in a search for a Wiener target is asymptotically proportional to , where T is the accumulated time spent searching. The asymptotic failure probability is also shown to be independent of the position of the search in ℝ1. In a similar fashion, it is shown that the failure probability in a search for a Wiener target in ℝ2 is independent of the position of the search and asymptotically proportional to (c log T + l)–1, c >0