This story draft by @escholar has not been reviewed by an editor, YET.
Authors:
(1) Mehdi Naderi;
(2) Markos Papageorgiou;
(3) Dimitrios Troullinos;
(4) Iasson Karafyllis;
(5) Ioannis Papamichail.
The Nonlinear Feedback Control
OD Corridors and Desired Orientations
Boundary and Safety Controllers
Appendix A: Collision Detection
Appendix B: Transformed ISO-Distance curves
Appendix D: Safety Controller Details
Appendix E: Controller Parameters
This paper is available on arxiv under CC 4.0 license.