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キーワード:
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要旨:
This paper determines the time-optimal trajectories bringing a car-like
robot, whose driving velocity is constrained to be strictly positive (Dubins car), in
collision with the obstacles in its workspace. Both the robot and the obstacles are
assumed to have polygonal shape. Based on these trajectories, a distance function
is defined and computed that takes into account the nonholonomic constraints and
captures the non-symmetric nature of the system.
