A polynomial-time algorithm for computing a shortest path ofbounded curvature amidst moderate obstaclesJean -


In this paper, we consider the problem of computing a shortest path of bounded curvature amidst obstacles in the plane. More precisely, given prescribed initial and nal conngurations (i.e. positions and orientations) and a set of obstacles in the plane, we want to compute a shortest C 1 path joining those two conngurations, avoiding the obstacles, and with… (More)

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