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A viability algorithm is developed to compute the constrained minimum time function for general dynamical systems. The algorithm is instantiated for a specific dynamics(Dubin’s vehicle forced by a flow field) in order to numerically solve the minimum time problem. With the specific dynamics considered, the framework of hybrid systems enables us to solve the problem efficiently. The algorithm is implemented in C using epigraphical techniques to reduce the dimension of the problem. The feasibility of this optimal trajectory algorithm is tested in an experiment with a Light Autonomous Underwater Vehicle (LAUV) system. The hydrodynamics of the LAUV are analyzed in order to develop a low-dimension vehicle model. Deployment results from experiments performed in the Sacramento River in California are presented, which show good performance of the algorithm.

This article is devoted to a survey of results for differential games obtained through Viability Theory. We recall the basic theory for differential games (obtained in the 1990s), but we also give an overview of recent advances in the following areas : games with hard constraints, stochastic differential games, and hybrid differential games. We also discuss several applications.

We use in this chapter the viability/capturability approach for studying the problem of dynamic valuation and management of a portfolio with transaction costs in the framework of tychastic control systems (or dynamical games against nature) instead of stochastic control systems. Indeed, the very definition of the guaranteed valuation set can be formulated directly in terms of guaranteed viable-capture basin of a dynamical game. Hence, we shall “compute” the guaranteed viable-capture basin and find a formula for the valuation function involving an underlying criterion, use the tangential properties of such basins for proving that the valuation function is a solution to Hamilton-Jacobi-Isaacs partial differential equations. We then derive a dynamical feedback providing an adjustment law regulating the evolution of the portfolios obeying viability constraints until it achieves the given objective in finite time. We shall show that the Pujal—Saint-Pierre viability/capturability algorithm applied to this specific case provides both the valuation function and the associated portfolios.