Safety controls and applications to the Dubins' car

Alessia Marigo, Benedetto Piccoli

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


In this paper we consider systems with cooperative controls. Such a model turns out to be efficient in those cases where one has to deal with different goals, as optimality and safety issues, at the same time. On the other hand, the drawback of this approach is the presence of discontinuities of the various controls. To deal with this problem, we give a general strategy, which is based on the concept of Krasowskii solution to discontinuous ODEs. Such a strategy is then applied to the safety driving of the Dubins' car.

Original languageEnglish (US)
Pages (from-to)73-94
Number of pages22
JournalNonlinear Differential Equations and Applications
Issue number1
StatePublished - 2004
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Analysis
  • Applied Mathematics


  • Cooperative control
  • Discontinuous differential equations
  • Optimal control
  • Optimal feedback synthesis


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