SUMMARYWe give an explicit analytical characterization of the least restrictive control for collision avoidance of two unicycles. The controller is proved to be least restrictive using viability theory.
Given a control affine system and a domain S which is a smooth manifold with boundary, we present results on explicit construction of a viability controller and viable kernel of S. Under a standard invariance condition on the viability domain, it is shown that there is a viability controller that takes a particularly simple form: it is a bang control. The proposed theory is applied to the problem of collision avoidance control of two vehicles.
Abstract-Peer-to-Peer (P2P) systems have witnessed an explosive growth in popularity due to their desirable characteristics (robustness, scalability, availability). In this paper, we present an approach to bring these characteristics into the control plane of IP networks, which mainly relies on signaling protocols such as SIP to setup multimedia and instant messaging sessions. We present a structured P2P control plane based on modifications to the original Chord P2P topology, resulting in a hierarchical overlay of SIP peers that replaces traditional client-server paradigms in control plane signaling protocols. Implementations were used to study the performance of the proposed structured P2P control plane, and its suitability for use in IP networks.
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