Motion planning is a fundamental research area in robotics. Sampling-based methods offer
an efficient solution for what is otherwise a rather challenging dilemma of path planning …

From a kinematic point of view, the main characteristic of wheeled robots is the
nonholonomic rolling without slip** constraint of the wheels on the floor, which forces the …

A practical approach for generating motion paths with continuous steering for car-like mobile
robots is presented here. This paper addresses two key issues in robot motion planning; …

In this paper, a nonlinear model predictive control (NMPC) is used to design a high-level
controller for a fixed-wing unmanned aerial vehicle (UAV). Given the kinematic model of the …

The use of unmanned aerial vehicles (UAVs) for various military missions has received
growing attention in the last decade. Apart from the obvious advantage of not placing human …

We consider optimal resolution of air traffic (AT) conflicts. Aircraft are assumed to cruise
within a given altitude layer and are modeled as a kinematic system with constant velocity …

We consider path planning for a car-like vehicle. Previous solutions to this problem
computed paths made up of circular arcs connected by tangential line segments. Such paths …

We study the traveling salesman problem for a Dubins vehicle. We prove that this problem is
NP-hard, and provide lower bounds on the approximation ratio achievable by some recently …

THIS paper describes a framework for minimum-time path planning in the horizontal plane.
We consider a kinematic model for an unmanned air vehicle (UAV) flying at constant altitude …

In this paper, we explore the problem of generating the optimal time path from an initial
position and orientation to a final position and orientation in the two-dimensional plane for …