… Along Smooth Curvilinear Paths Dr. Lesley Weitz John Hurtado This paper presents an approach to spacing vehicles along an arbitrary path. This paper presents an approach to spacing vehicles … and perpendicular-to-path spacing errors, ideal trajectories can be found for each vehicle in the formation. A sliding-mode control law is used to track the ideal trajectories, which … the express written permission of The MITRE Corporation. For further information, please contact The MITRE Corporation, Contract Office, 7515 Colshire Drive, McLean, VA 22102, (703) …