Planning constrained motion . S. Fortune and G. Wilfong. Planning constrained motion . Annals of Math. The existence of a shortest collision free path for Reeds Shepp s car is no more guaranteed.
Subscripts are positive real numbers giving the length of each elementary path in an optimal path.
They will be referred to as path parameters. S. Fortune and G. Wilfong. Planning constrained motion . Section 3 deals with the case when B is not allowed to make reversals, and Section 4 deals when B is allowed to make reversals. We conclude in Section 5 by suggesting some extensions and open problems.