Classifies 23 time-optimal path types with closed-form solutions for convexified Reeds-Shepp motion on a sphere using optimal control.
Shortest paths for the reeds-shepp car: a worked out example of the use of geometric techniques in nonlinear optimal control,
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Time-optimal Convexified Reeds-Shepp Paths on a Sphere
Classifies 23 time-optimal path types with closed-form solutions for convexified Reeds-Shepp motion on a sphere using optimal control.