A Regularization Approach to Analyze the Time-Optimal Motion of a Mobile Robot under State Constraints using Pontryagin’s Maximum Principle - Pereira, Fernando Lobo; Chertovskih, Roman; Daryina, Anna; Diveev, Askhat; Karamzin, Dmitry; Sofronova, Elena (Procedia computer science, 2021)
Keywords: maximum principle; regularization; state constraints; Unicycle model; Unicycle model; state constraints; maximum principle; regularization