Related papers: Markov-Dubins Interpolating Curves
Markov-Dubins path is the shortest planar curve joining two points with prescribed tangents, with a specified bound on its curvature. Its structure, as proved by Dubins in 1957 nearly 70 years after Markov posed the problem of finding it,…
We study the problem of finding curves of minimum pointwise-maximum arc-length derivative of curvature, here simply called curves of minimax spirality, among planar curves of fixed length with prescribed endpoints and tangents at the…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
The Dubins interval problem aims to find the shortest path of bounded curvature between two targets such that the departure angle from the first target and the arrival angle at the second target are constrained to two respective intervals.…
This paper presents the reachability analysis of curves in $\mathbb{R}^3$ with a prescribed curvature bound. Based on Pontryagin Maximum Principle, we leverage the existing knowledge on the structure of solutions to minimum-time problems,…
A Dubins path is a shortest path with bounded curvature. The seminal result in non-holonomic motion planning is that (in the absence of obstacles) a Dubins path consists either from a circular arc followed by a segment followed by another…
Based on earlier work by Carlen-Maas and the second- and third-named author, we introduce the notion of intertwining curvature lower bounds for graphs and quantum Markov semigroups. This curvature notion is stronger than both Bakry-\'Emery…
In this article, a variation of the classical Markov-Dubins problem is considered, which deals with curvature-constrained least-cost paths in a plane with prescribed initial and final configurations, different bounds for the sinistral and…
This paper introduces an exact algorithm for the construction of a shortest curvature-constrained network interconnecting a given set of directed points in the plane and an iterative method for doing so in 3D space. Such a network will be…
In this paper, we address the problem of computing optimal paths through three consecutive points for the curvature-constrained forward moving Dubins vehicle. Given initial and final configurations of the Dubins vehicle, and a midpoint with…
Given interpolation points $P_1,P_2,\ldots,P_n$ in the plane, it is known that there does not exist an interpolating curve with minimal bending energy, unless the given points lie sequentially along a line. We say than an interpolating…
In this paper we address the problem of interpolating a spline developable patch bounded by a given spline curve and the first and the last rulings of the developable surface. In order to complete the boundary of the patch a second spline…
We consider the problem of finding curves of minimum pointwise-maximum curvature, i.e., curves of minimax curvature, among planar curves of fixed length with prescribed endpoints and tangents at the endpoints. We reformulate the problem in…
Using a residuum approach, we provide a complete description of the space of the rational spatial curves of given tangent directions. The rational Pythagorean hodograph curves are obtained as a special case when the norm of the direction…
Given points $P_1,P_2,\ldots,P_m$ in the complex plane, we are concerned with the problem of finding an interpolating curve with minimal bending energy (i.e., an optimal interpolating curve). It was shown previously that existence is…
The problem of the optimal approximation of circular arcs by parametric polynomial curves is considered. The optimality relates to the curvature error. Parametric polynomial curves of low degree are used and a geometric continuity is…
This work is devoted to studying dynamic interpolation for obstacle avoidance. This is a problem that consists of minimizing a suitable energy functional among a set of admissible curves subject to some interpolation conditions. The given…
The aim of this paper is a construction of quartic parametric polynomial interpolants of a circular arc, where two boundary points of a circular arc are interpolated. For every unit circular arc of inner angle not greater than $\pi$ we find…
The Numerical Recipes series of books are a useful resource, but all the algorithms they contain cannot be used within open-source projects. In this paper we develop drop-in alternatives to the two algorithms they present for cubic spline…
We present a path planning problem for a pursuer to intercept a target traveling on a circle. The pursuer considered here has limited yaw rate, and therefore its path should satisfy the kinematic constraints. We assume that the distance…