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Flatness of the Generic Under-Actuated 6-Degrees-of-Freedom Unmanned Surface Vessel
The flatness of the under-actuated unmanned surface vessel with circular hull-shape (``the hovercraft") has long been known. We resolve the long-standing open problem: whether the generic under-actuated 6-degrees-of-freedom (dof) unmanned surface vessel (gUSV) admits a feedback linearization. Lie sy
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