1. List of Figures
2. Acknowledgement
3. Abstract
4. 1. Introduction
   1. 1.1. Problem Statement
   2. 1.2. Approach
   3. 1.3. Motivation
   4. 1.4. Summary of Thesis
5. 2. Historical Review
   1. 2.1. Parking Legislation
   2. 2.2. Planning
      1. 2.2.1. General Planners
      2. 2.2.2. Path-Planning
      3. 2.2.3. Spatial Reasoning
   3. 2.3. Control
   4. 2.4. Sensors
      1. 2.4.1. 1-D Ultrasonic Ranging
      2. 2.4.2. Posture Sensors
   5. 2.5. Multiple Sensors and Data Fusion
   6. 2.6. Procedural Knowledge Representation
   7. 2.7. Summary
6. 3. Derivation of a Curve for Parking a Car
   1. 3.1. The Rear Path
      1. 3.1.1. Derivation by Docking Constraints
      2. 3.1.2. Examples
   2. 3.2. The Front Path
      1. 3.2.1. Derivation by Nonholonomic Constraints
      2. 3.2.2. Examples
   3. 3.3. Summary
7. 4. Open-loop Control
   1. 4.1. 1-D Open-Loop Control
      1. 4.1.1. 1-D Open-Loop Control of an Error-Free Plant Model
      2. 4.1.2. Simulation of 1-D Open-Loop Control of an Error-Free Plant Model
      3. 4.1.3. Simulation of 1-D Open-Loop Control of an Erroneous Plant Model
   2. 4.2. 2-D Open-Loop Control
      1. 4.2.1. 2-D Open-Loop Control of an Error-Free Plant Model
      2. 4.2.2. Simulation of 2-D Open-Loop Control of an Error-Free Plant Model
      3. 4.2.3. Simulation of 2-D Open-Loop Control of an Erroneous Plant Model
   3. 4.3. Summary of Open-loop Control
8. 5. Closed-Loop Control
   1. 5.1. System Overview
   2. 5.2. 1-D Motion
      1. 5.2.1. Internal Sensors
      2. 5.2.2. External Sensor
      3. 5.2.3 Sensor Fusion
      4. 5.2.4. 1-D Simulation Results.
   3. 5.3. 2-D Motion
      1. 5.3.1. Internal Sensors
      2. 5.3.2. External Sensors
      3. 5.3.3. 2-D Sensor Fusion
      4. 5.3.4. Simulation Results
   4. 5.4. Summary of Closed-Loop Control
9. 6. Discussion and Conclusions
10. Literature Cited
11. Appendix A. Derivation of the Fifth-Order Polynomial
    1. A.1. Derivation of the Full Fifth-Order Polynomial
    2. A.2. Derivation of the Simplified Fifth-Order Polynomial
    3. A.3. Examples
12. Appendix B. Nonholonomic Systems
13. Appendix C. Rolling Resistance
14. Appendix D. The STELLA Notation
    1. D.1. Example 1, Differential Equations in STELLA.
    2. D.2. Example 2, Asymptotic Stability
    3. D.3. Summary
    4. D.4. STELLA Notation
    5. D.5. The STELLA Code
15. Appendix E. Proportional and Derivative Control Mix Ratio
16. Appendix F. Measured Maneuver Room vs. PSL-L
17. Appendix G. Linear Acceleration and Steering Speed
18. Appendix H. Modeling Error and Tracking Performance
19. Appendix I. Glossary
    1. I.1. Terms
    2. I.2. Constants and Parameters
    3. I.3. Variables
    4. I.4. Additional Variables, Constants and Parameters Introduced in the Graphs
    5. I.5. Additional Variables, Constants and Parameters Introduced in Appendix A
    6. I.6. Additional Variables, Constants and Parameters Introduced in Appendix B.
    7. I.7. Additional Variables, Constants and Parameters Introduced in Appendix C.
    8. I.8. Additional Variables, Constants and Parameters Introduced in Appendix D.
    9. I.9. Additional Variables, Constants and Parameters Introduced in Appendix E.