Viability-based computation of spatially constrained minimum time trajectories for an autonomous underwater vehicle: Implementation and experiments.
Andrew TinkaS. DiemerL. MadureiraEduardo R. B. MarquesJoão Borges de SousaRicardo MartinsJosé PintoJorge Estrela da SilvaAndré SousaPatrick Saint-PierreAlexandre M. BayenPublished in: ACC (2009)