Related papers: Optimal Geodesic Curvature Constrained Dubins' Pat…
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…
Let $P$ be a collection of $n$ points in the plane, each moving along some straight line at unit speed. We obtain an almost tight upper bound of $O(n^{2+\epsilon})$, for any $\epsilon>0$, on the maximum number of discrete changes that the…
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…
We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit speed and the laser, having a finite range, can rotate in a…
Numerical computation of shortest paths or geodesics on curved domains, as well as the associated geodesic distance, arises in a broad range of applications across digital geometry processing, scientific computing, computer graphics, and…
We show that the shortest closed geodesic on a 2-sphere with non-negative curvature has length bounded above by three times the diameter. We prove a new isoperimetric inequality for 2-spheres with pinched curvature; this allows us to…
In this paper, we present the geodesic-like algorithm for the computation of the shortest path between two objects on NURBS surfaces and periodic surfaces. This method can improve the distance problem not only on surfaces but in…
Minimum-time speed profiles are constructed for planar paths with smooth strictly-monotonic signed curvature, subject to constraints on velocity, normal acceleration and tangential acceleration. The construction is explicit and exact, and…
We investigate local and global properties of timelike geodesics in three static spherically symmetric spacetimes. These properties are of its own mathematical relevance and provide a solution of the physical `twin paradox' problem. The…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
Consider an orientable compact surface in three dimensional Euclidean space with minimum total absolute curvature. If the Gaussian curvature changes sign to finite order and satisfies a nondegeneracy condition along closed asymptotic…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
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,…
This paper is concerned with the minimum-time path-planning problem for a Dubins airplane under the influence of steady wind. The path-planning problem, by transforming into the air-relative frame, is equivalent to finding the minimum-time…
In this work, we propose a novel and efficient method for smoothing polylines in motion planning tasks. The algorithm applies to motion planning of vehicles with bounded curvature. In the paper, we show that the generated path: 1) has…
Let $C$ be the unit circle in $\mathbb{R}^2$. We can view $C$ as a plane graph whose vertices are all the points on $C$, and the distance between any two points on $C$ is the length of the smaller arc between them. We consider a graph…
Let G be an edge weighted undirected graph. For every pair of nodes consider the shortest cycle containing these nodes in G. The cycle diameter of G is the maximum length of a cycle in this set. Let H be a directed graph obtained by…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
This paper deals with finding surfaces in $\mathbb{R}^3$ which are as close as possible to being flat and span a given contour such that the contour is a geodesic on the sought surface. We look for a surface which minimizes the total…
Pathfinding in Euclidean space is a common problem faced in robotics and computer games. For long-distance navigation on the surface of the earth or in outer space however, approximating the geometry as Euclidean can be insufficient for…