Classifies 23 time-optimal path types with closed-form solutions for convexified Reeds-Shepp motion on a sphere using optimal control.
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A comparative review of SO(3) rotation representations finds quaternions dominant for compactness and efficiency while 6D continuous and probabilistic methods improve continuity and uncertainty handling.
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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.
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Representations of 3D Rotations: Mathematical Foundations and Comparative Analysis
A comparative review of SO(3) rotation representations finds quaternions dominant for compactness and efficiency while 6D continuous and probabilistic methods improve continuity and uncertainty handling.