id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ijassa-1061	Galyaev, Andrey; Lysenko, Pavel; Yakhno, Victor	Algorithm for Optimal Two-Link Trajectory Planning in Evasion from Detection Problem of Mobile Vehicle with Non-Uniform Radiation Pattern	2021	12	.pdf	application/pdf	4179	280	68	5. ALGORITHM FOR FINDING TWO-LINK OPTIMAL TRAJECTORIES If conditions of theorem 4.2 are not fulfilled, e.g. detH ≤ 0, then optimal trajectory can consist of many segments of logarithmic spirals. Lemma 5.1: Angles β∗1 , β ∗ 2 for optimal trajectory can be found from system cos(β2 − β1)	cache/ijassa-1061.pdf	txt/ijassa-1061.txt