Skip to main content
. Author manuscript; available in PMC: 2013 May 29.
Published in final edited form as: IEEE Trans Automat Contr. 2006;51(4):562–579. doi: 10.1109/TAC.2006.872837

Fig. 6.

Fig. 6

Feature search is performed in the normal direction to the curve. The search region is only allowed to intersect the curve at its origin of search (i.e., s0, s1, s2, …).