which means that the target point traverses the path with the speed profile Ut(t) > 0 , which can also be made to vary with mt.

Naturally, this problem can be solved by the target-tracking methods of Section 3, e.g., through the direct velocity assignment (2). However, by using such methods, all available path information is disregarded, and p(t) will appear to be "cutting corners" in its pursuit of

Another approach is to employ the path knowledge that is apriori available, to divide the path-tracking problem into two tasks, i.e., a spatial task and a temporal task (Skjetne et al. 2004). The spatial task was just solved in the previous part, while the temporal task can be solved by employing the speed law

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