/gdip

Optimal solution of the Generalized Dubins Interval Problem (GDIP)

Primary LanguageC++BSD 2-Clause "Simplified" LicenseBSD-2-Clause

Generalized Dubins Interval Problem (GDIP)

Build Status

This repository provides the optimal solution of the GDIP wchich enables to find a tight lower-bound for the Dubins Traveling Salesman Problem with Neighborhoods (DTSPN). The provided source codes are implemented in C++11 and presented at RSS 2018 conference. Please, cite the journal version.

@article{vana20auro,
  author = {Váňa, Petr and Faigl, Jan},
  title = {Optimal Solution of the Generalized Dubins Interval Problem Finding the Shortest Curvature-constrained Path Through a Set of Regions},
  journal = {Autonomous Robots},
  volume = {44},
  number = {7},
  pages = {1359--1376},
  year = {2020},
  doi = {10.1007/s10514-020-09932-x}
}

This paper has been nominated for the best student paper at RSS 2018 conference.

GDIP example

GDIP example

DTRP solution

Feasible solution (blue) and the corresponding lower bound (red).

DTRP solution

Basic usage in C++ and library compilation

C++ library