Doron Pinsky

T*$\boldsymbol{\varepsilon}$ - Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems

We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of speeds with unbounded acceleration. This setting can model m