Related papers: Optimal Geodesic Curvature Constrained Dubins' Pat…

Let $B$ be a point robot moving in the plane, whose path is constrained to forward motions with curvature at most one, and let $P$ be a convex polygon with $n$ vertices. Given a starting configuration (a location and a direction of travel)…

We consider the motion planning of an object in a Riemannian manifold where the object is steered from an initial point to a final point utilizing optimal control. Considering Pontryagin Minimization Principle we compute the Optimal…

Motivated by the fact that in a space where shortest paths are unique, no two shortest paths meet twice, we study a question posed by Greg Bodwin: Given a geodetic graph $G$, i.e., an unweighted graph in which the shortest path between any…

We use a recently developed action principle in spaces with curvature and torsion to derive the Euler equations of motion for a rigid body within the body-fixed coordinate system. This serves as an example that the particle trajectories in…

We study arrangements of geodesic arcs on a sphere, where all arcs are internally disjoint and each arc has its endpoints located within the interior of other arcs. We establish fundamental results concerning the minimum number of arcs in…

We describe the curves of constant (geodesic) curvature and torsion in the three-dimensional round sphere. These curves are the trajectory of a point whose motion is the superposition of two circular motions in orthogonal planes. The global…

We study shortest paths and their distances on a subset of a Euclidean space, and their approximation by their equivalents in a neighborhood graph defined on a sample from that subset. In particular, we recover and extend the results of…

We present an analytic solution to the 3D Dubins path problem for paths composed of an initial circular arc, a straight component, and a final circular arc. These are commonly called CSC paths. By modeling the start and goal configurations…

All parallel algorithms for directed reachability and shortest paths crucially rely on efficient shortcut constructions. These constructions find directed paths and shortcut them by adding edges, with the goal to reduce the diameter of the…

A geodesic is a shortest path which connects a pair of vertices of a graph G. In this paper we define the geodesic subpath number gpn(G) of a graph G as the number of geodesics in G. The number of subtrees and subpaths are already studied…

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.…

The detour between two points u and v (on edges or vertices) of an embedded planar graph whose edges are curves is the ratio between the shortest path in in the graph between u and v and their Euclidean distance. The maximum detour over all…

Optimization based motion planning provides a useful modeling framework through various costs and constraints. Using Graph of Convex Sets (GCS) for trajectory optimization gives guarantees of feasibility and optimality by representing…

Let $P$ be a collection of $n$ points moving along pseudo-algebraic trajectories in the plane. One of the hardest open problems in combinatorial and computational geometry is to obtain a nearly quadratic upper bound, or at least a subcubic…

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 give a universal upper bound for the total curvature of minimizing geodesic on a convex surface in the Euclidean space.

In this article, two methods of addressing path planning for a Dubins vehicle moving on a sphere are considered, wherein either spherical coordinates or a moving frame are considered to describe the vehicle's motion. The primary…

We consider the set E of curves with positive algebraic curvature, whose extremities and tangents in their extremities are given. For each of the curves of E, we define the minimum of the radius of curvature. There exists a unique curve of…

The Dubins path problem had enormous applications in path planning for autonomous vehicles. In this paper, we consider a generalization of the Dubins path planning problem, which is to find a shortest Dubins path that starts from a given…

Geodesic paths and distances are among the most popular intrinsic properties of 3D surfaces. Traditionally, geodesic paths on discrete polygon surfaces were computed using shortest path algorithms, such as Dijkstra. However, such algorithms…