6. XP RF FRI 1 BFHHMJPPF" 1R 1GVW FHW SR JK RJ JRW FTT SFHM WS J K HFW SR SK F W K H FP
RJX FP RJW S OV" R 3S TXWJ 1 IJI CJ K HFW SR 31C ( "
MWWTV0 JVJF HMLFWJ RJW TXGP HFW SR (( ) .
( XP RF FRI 1 BFHHMJPPF" 3MFPPJRL RL A B VSP J V WS J K RJX FP RJW S OV" 19 3S XR "
SP ( " RS (" TT - ) " 1T ( ( MWWT0 I IS S L )()) 193 ( ( (
MWWTV0 TIKV VJ FRW HVHMSPF S L H/ J K-) G/H .-H/I KGH-HK./ F,, FF,/ /.( TIK
) AHMJ GPJ " D RWJ J " D J " FRI 2 2JHOJ BS F IV J K HFW SR SK F W K H FP RJX FP
RJW S OV 9R .WM DS OVMST SR JWMSIJR XRI 2JVHM J GXRLVVT FHMJR X SIJPP J XRL XRI
CJ K OFW SR SR AHMFPWXRLJR XRI A VWJ JR 2 C " (
MWWT0 F FHV S L K PJFI R XGP OFW SRJR TJR VHMJ GPJ G ( TIK
E 8XFRL" FWOS VOF" A DFRL" FRI DX" AFKJW J K HFW SR SK IJJT RJX FP RJW S OV"
31C ( - R WJI WFPO" MWWT0 F S L FGV , ,/
7 FW " 3 2F JWW" 4 4 PP" :XP FR" FRI SHMJRIJ KJ " JPXTPJ 0 1R JKK H JRW A B VSP J
KS J K RL IJJT RJX FP RJW S OV" 31C ( -" MWWT0 F S L FGV - ( )
, 5MPJ V" 6S FP J K HFW SR SK JHJ D VJ P RJF 6JJI 6S F I RJX FP RJW S OV"
MWWT0 F S L FGV - )(
11. • ? : 2,3( 1 I E E =
• - = E A = 2,3 A =A
• 2,3 I E I E <= < I ?
• 2 3 = := = = < E=
• , E < I E A < ? : 2,3
• 0E A - A (
< E EE : = : = E = < <
M R = P = ) P = E = P
: E E= = : = +
15. XP RF FRI 1 BFHHMJPPF" 1R 1GVW FHW SR JK RJ JRW FTT SFHM WS J K HFW SR SK F W K H FP
RJX FP RJW S OV" R 3S TXWJ 1 IJI CJ K HFW SR 31C ( "
MWWTV0 JVJF HMLFWJ RJW TXGP HFW SR (( ) .
( XP RF FRI 1 BFHHMJPPF" 3MFPPJRL RL A B VSP J V WS J K RJX FP RJW S OV" 19 3S XR "
SP ( " RS (" TT - ) " 1T ( ( MWWT0 I IS S L )()) 193 ( ( (
MWWTV0 TIKV VJ FRW HVHMSPF S L H/ J K-) G/H .-H/I KGH-HK./ F,, FF,/ /.( TIK
) AHMJ GPJ " D RWJ J " D J " FRI 2 2JHOJ BS F IV J K HFW SR SK F W K H FP RJX FP
RJW S OV 9R .WM DS OVMST SR JWMSIJR XRI 2JVHM J GXRLVVT FHMJR X SIJPP J XRL XRI
CJ K OFW SR SR AHMFPWXRLJR XRI A VWJ JR 2 C " (
MWWT0 F FHV S L K PJFI R XGP OFW SRJR TJR VHMJ GPJ G ( TIK
E 8XFRL" FWOS VOF" A DFRL" FRI DX" AFKJW J K HFW SR SK IJJT RJX FP RJW S OV"
31C ( - R WJI WFPO" MWWT0 F S L FGV , ,/
7 FW " 3 2F JWW" 4 4 PP" :XP FR" FRI SHMJRIJ KJ " JPXTPJ 0 1R JKK H JRW A B VSP J
KS J K RL IJJT RJX FP RJW S OV" 31C ( -" MWWT0 F S L FGV - ( )
, 5MPJ V" 6S FP J K HFW SR SK JHJ D VJ P RJF 6JJI 6S F I RJX FP RJW S OV"
MWWT0 F S L FGV - )(
16. - - -
- - -
• 5 H H 0 : C 0H 0=LM M H 8 A H G HM
C M A M H A M A H H MP EL
H 1 G M 0 A M H 10 ) (
CMM L. PPP L C M H M = M H ))(+ +-,
• . 5 ( C H R MC M M H M A G
A P E H G M L A H LM G H M
• . 3 = L A MR
• . : L 4R 0: " 12308 = L H HM L
• 12308 / 1 HM 2 G 3 0=LM M H 8 A H G HM
18. ( ) )
(
• )
• ) : : , A A F . A
: : :A : ,C AC C : , A
:: ,C AC C = = =
AC C = = : A
GAEAC E C , A
: : A = :
(
AC C = = : = : A
,C : A AC C
::
. ..
21. • 2 8 C K 3 M K K K ? / / K T IP K?L
O K A M I IA KM A K MPIK L 1 +MC IK LCI I
MCI? ? / L CK BLL K C S K I? K B ?
: K A M I OI 8 C M B ? 8RLM / : (
CMM , PPP O L IKB A ? M I 5 L C K
O( ?A
• , 0 KM I I MKI K
• , --- IM PK MM M R MC K
• , /I ? ? I? 0C B 8 LI O K 8. ) L
?
• .?? B M A M I L MI L ? I LMK M KI B M I
22.
23. • 4R LF" 6TH IMT I " LF" LC R" D V
SD H HB HML M CDDN LDR LD TM I "X 0. ( HLSH DC I"
G N- HS M F A ,)
G N - FH GRA BMK SD HCDDN C S
• - K FD 0 H HB HML 0 2.: " K FD9D " 9 "
:/
• - MB CSD H MAR LD
• - 1H B D HW HML" 7 VD AV 7 VD
24.
25. • 2 = T 0 /=LLA 1 1 GG 3 G = = J DA ALBAL
7AG KGAR, . ABB A MJG AL BJL AL BS C AAK A L=G
A JL M 0. ( + D K, =LR JLC = M + ( )
D KM, C D J C S = TT 7AG KGAR0= ( +
• , = L JL A JGG M J = J = A MSM A BJL = A = L L=B
.0.
• , GJ =G CGJ =G = ALM=L =G LJ M AMM
• , " 57. MJG AL AR A A J D= GA 7A5:
• 57. 5 A=L 7A=G .L D A
• 57. MJG AL M M =GGS =MA J =G M KGAR A DJ
26. • , = (-- 2 = = =A A A = = 2
2 =A = 2 =2 = =D = 2= .
• . 2 2= AA 2A 2 . 2 2A
H I H
• ) D A A = 2 = 2 A A
,0 A D 2 A 2A A =
• 2 = . = ,0 A D
= =A = 2A A
• 0 A 2 2= = 2 2 A
A D
27. • : FC 6 B F B 6 -/) B A C : 6 / -
6 A C 0 F / - / F
• 6 0 F B 6 -/) B A
• , A 6 C B :CC ( B B BA AB 6
• + BCA CB A A A B C 6 B C 6 A 6B
• !" = ∑%& ∈( )",+!+ A !+ ∈ ,
• ( B A B . ( B A B
• -" ≤ !" ≤ /" A !" ∈ , ∪ 1
• : B A C B A BB C α ∶ , ∪ 1 → ℝ B : C: C
∀!+ ∈ 1. -+≤ α(!+) ≤ /+ 6 CA C B C B C: A 6B
C A C B
29. • B? C? A C? . B? ,
• K ?G I B A B?? BA B A K
B GA AA ) G
• + BG C B A B?
• (G A IB L BB ?? M 0 3 AB
B?G BA
30. - - -
- -
• - I .F D L FE F 3 " I E . "
.F M E E MF I + N L F :I
• I+ : FD F E
• + , F I FE LF E 12/5
• + F F: L I F: I E II
• + 51 0 E N FE F 07 1 N3FF
//5 E E FEI E F FE
31. - - -
- -
I L B E E F F E I E=
4 B N B E + B E
( I 5, IEBL E F BB = N F I I
) 5EBL 13 N B E I I =E = N I
• I E A L = E E
P I E= EL = N 4 1
E F = 4 1 = I B IEB E
0= I B I 02 .,50-1.
• I B I = B E E F 005
0 B 0 = I B 5 I
E = F I = N
I 5, IEBL B I
5E I =E E I
F EF E
3 I 3 I
32. - - -
- -
•
•
ure 3: Two pairs of vehicle trajectories, where the first one is non-colliding, and the second one