Related papers: Optimal Geodesic Curvature Constrained Dubins' Pat…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

It is known that the infimum of the sectional curvatures (on the regular part) of orbit spaces of isometric actions on unit spheres in bounded above by $4$. We show that the infimum is $1$ for "most" actions, and determine the cases in…

Given a graph $G$, a geodesic packing in $G$ is a set of vertex-disjoint maximal geodesics, and the geodesic packing number of $G$, ${\gpack}(G)$, is the maximum cardinality of a geodesic packing in $G$. It is proved that the decision…

We seek to augment a geometric network in the Euclidean plane with shortcuts to minimize its continuous diameter, i.e., the largest network distance between any two points on the augmented network. Unlike in the discrete setting where a…

I prove a scalar curvature rigidity theorem for spheres. In particular, I prove that geodesic balls of radii strictly less than $\frac{\pi}{2}$ in $n+1~(n\geq 2)$ dimensional unit sphere can be rigid under smooth deformations that increase…

Given a graph, the shortest-path problem requires finding a sequence of edges with minimum cumulative length that connects a source vertex to a target vertex. We consider a variant of this classical problem in which the position of each…

A maximal geodesic in a graph is a geodesic (alias shortest path) which is not a subpath of a longer geodesic. The geodesic-transversal problem in a graph $G$ is introduced as the task to find a smallest set $S$ of vertices of $G$ such that…

(I) We prove that the (maximum) number of monotone paths in a geometric triangulation of $n$ points in the plane is $O(1.7864^n)$. This improves an earlier upper bound of $O(1.8393^n)$; the current best lower bound is $\Omega(1.7003^n)$.…

A path system in a graph $G$ is a collection of paths, with exactly one path between any two vertices in $G$. A path system is said to be consistent if it is intersection-closed. We show that the number of consistent path systems on $n$…

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…

A small variation of the circular shape of the hodograph theorem states that for every elliptical solution of the two-body problem, it is possible to find an appropriate inertial frame such that the speed of the bodies is constant. We use…

In many singular metric spaces, the regularity of a shortest-length curve is unknown. Algebraic varieties, or more generally sets defined by finitely many polynomial or real analytic equalities or inequalities, all locally partition into…

The paper develops a novel motion model, called Generalized Multi-Speed Dubins Motion Model (GMDM), which extends the Dubins model by considering multiple speeds. While the Dubins model produces time-optimal paths under a constant speed…

Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…

The paper focuses on synthesizing optimal contact curves that can be used to ensure a rolling constraint between two bodies in relative motion. We show that geodesic based contact curves generated on both the contacting surfaces are…

A geodesic in a graph G is a shortest path between two vertices of G. For a specific function e(n) of n, we define an almost geodesic cycle C in G to be a cycle in which for every two vertices u and v in C, the distance d_G(u,v) is at least…

Let $s$ be a source point and $t$ be a destination point inside an $n$-vertex simple polygon $P$. Euclidean shortest paths and minimum-link paths between $s$ and $t$ inside $P$ have been well studied. Both these kinds of paths are simple…

Let $M^n$ be a closed Riemannian manifold of dimension $n\geq 2$, with Ricci curvature $Ric \geq n-1$. We will show that any sphere of dimension $m$ in the space of closed loops on $M^n$ is homotopic to the sphere in the space of closed…

This paper addresses the Dubins path planning problem for vehicles in 3D space. In particular, we consider the problem of computing CSC paths -- paths that consist of a circular arc (C) followed by a straight segment (S) followed by a…

We give a metric characterization of the Euclidean sphere in terms of the lower bound of the sectional curvature and the length of the shortest closed geodesics.