3 accepted papers
We consider a Curvature-constrained Shortest Path (CSP) problem on a 2D plane for a robot with minimum turning radius constraints in the presence of obstacles. We introduce a new bounding technique called Gate* (G*) that provides optimality guarantees to the CSP. Our approach relies on relaxing the…
In this letter, 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 dextral curvatures, and penalties <inline-formula xmlns:mml="h
In this article, we introduce a cooperative path planning algorithm for a cardinal and a support robot where the cardinal robot is unable to traverse a subset of edges in a network until the support robot has first traversed them. This subset of edges represent paths in an environment that are initi…