Aaron T. Becker

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cs.RO2024

An Analytic Solution to the 3D CSC Dubins Path Problem

Victor M. Baez, Nikhil Navkar, Aaron T. Becker

We present an analytic solution to the 3D Dubins path problem for paths composed of an initial circular arc, a straight component, and a final circular arc. These are commonly call…

cs.RO2024

Minimum-Time Planar Paths with up to Two Constant Acceleration Inputs and $L_{2}$ Velocity and Acceleration Constraints

Victor M. Baez, Haoran Zhao, Nihal Abdurahiman +2

Given starting and ending positions and velocities, $L_{2}$ bounds on the acceleration and velocity, and the restriction to no more than two constant control inputs, this paper provi…

An Analytic Solution to the 3D CSC Dubins Path Problem

Minimum-Time Planar Paths with up to Two Constant Acceleration Inputs and L2​ Velocity and Acceleration Constraints

Minimum-Time Planar Paths with up to Two Constant Acceleration Inputs and $L_{2}$ Velocity and Acceleration Constraints