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T*$\varepsilon$ -- Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems
We demonstrate using empirical evaluation that our planning framework can reduce the runtime by several orders of magnitude compared to the state-of-the-art while still providing guarantees on the quality of the solution.
WiSM: Windowing Surrogate Model for Evaluation of Curvature-Constrained Tours with Dubins vehicle
We address the computationally challenging DTSP by fast evaluation of the sequence of visits by the proposed Windowing Surrogate Model (WiSM) which estimates the length of the optimal Dubins path connecting a sequence of locations in a Dubins tour.
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