01764nas a2200169   4500008004100000245009200041210006900133300001600202490000700218520116900225653002101394653001301415100001501428700001801443700001901461856011401480       2015                        eng d00aEpsilon-Optimal Synthesis for Unicycle-like Vehicles with Limited Field-Of-View Sensors0 aEpsilonOptimal Synthesis for Unicyclelike Vehicles with Limited   a1404 - 14180 v313 a<p class="p1" style="text-align: justify;">In this paper we study the minimum length paths covered by the center of a unicycle equipped with a limited Field–Of–View (FOV) camera, which must keep a given landmark in sight. Previous works on this subject have provided the optimal synthesis for the cases in which the FOV is only limited in the horizontal directions (i.e. left and right bounds) or in the vertical directions (i.e. upper and lower bounds). In this paper we show how to merge previous results and hence obtaining, for a realistic image plane modeled as a rectangle, a finite alphabet of extremal arcs and the overall synthesis. As shown, this objective can not be straightforwardly achieved from previous results but needs further analysis and developments. Moreover, there are initial configurations such that there exists no optimal path. Nonetheless, we are always able to provide an e–optimal path whose length approximates arbitrarily well any other shorter path. As final results, we provide a partition of the motion plane in regions such that the optimal or e–optimal path from each point in thatregion is univocally determined.</p>
10aEmbedded Control10aRobotics1 aSalaris, P1 aCristofaro, A1 aPallottino, L.  uhttp://95.110.227.47/publications/epsilon-optimal-synthesis-unicycle-vehicles-limited-field-view-sensors.html