Abstract: A control system for controlling movement of a vehicle, is disclosed. The control system is configured to construct a graph having multiple nodes defining states of the vehicle. The multiple nodes comprise an initial node defining initial state and a target node defining target state. Each pair of nodes is connected by an edge defined by collision-free motion primitives where the nodes comprise motion cusps. Multiple nodes connected through edges form a first path. A first number of motion cusps in the first path is determined and the graph is expanded to add new nodes until a termination condition is met on determining that the first number of motion cusps is above a threshold. The expansion of the graph is subjected to a constraint associated with a total number of motion cusps. Further a second path is determined having lesser motion cusps than the first path.

Abstract: Embodiments of the present invention provide a method, an apparatus, and a system for password control, and relate to the field of password technologies. The method includes: receiving, by a combination lock, an unlock password that is sent by a mobile terminal through a network; matching, by the combination lock, the unlock password with an unlock password preset for the mobile terminal; when the unlock password matches the unlock password preset for the mobile terminal, executing, by the combination lock, an unlock operation. Embodiments of the present invention enhance the security of entering passwords.