Reachability by Paths of Bounded Curvature in a Convex Polygon

Hee-Kap Ahn, Otfried Cheong, Jirí Matoušek +1

Let $B$ be a point robot moving in the plane, whose path is constrained to forward motions with curvature at most one, and let $P$ be a convex polygon with $n$ vertices. Given a st…