Optimal paths for a curvature-constrained vehicle on a unit sphere are CGC or concatenations of C segments, generalized from prior results to all r ≤ √3/2.
On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents,
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A New Approach to Motion Planning in 3D for a Dubins Vehicle: Special Case on a Sphere
Optimal paths for a curvature-constrained vehicle on a unit sphere are CGC or concatenations of C segments, generalized from prior results to all r ≤ √3/2.