{"paper":{"title":"A PDE Approach to Data-driven Sub-Riemannian Geodesics in SE(2)","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.GR","authors_text":"Alexey Mashtakov, Erik J. Bekkers, Gonzalo R. Sanguinetti, Remco Duits","submitted_at":"2015-03-04T19:27:03Z","abstract_excerpt":"We present a new flexible wavefront propagation algorithm for the boundary value problem for sub-Riemannian (SR) geodesics in the roto-translation group $SE(2) = \\mathbb{R}^2 \\rtimes S^1$ with a metric tensor depending on a smooth external cost $\\mathcal{C}:SE(2) \\to [\\delta,1]$, $\\delta>0$, computed from image data. The method consists of a first step where a SR-distance map is computed as a viscosity solution of a Hamilton-Jacobi-Bellman (HJB) system derived via Pontryagin's Maximum Principle (PMP). Subsequent backward integration, again relying on PMP, gives the SR-geodesics. For $\\mathcal{"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1503.01433","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}