G*

This repo contains the code for a new approach to bounding curvature-constrained shortest paths through Dubins Gates.

Paper

For more details, please see our paper G*: A New Approach to Bounding Curvature Constrained Shortest Paths through Dubins Gates which has been accepted at RSS 2023. If this code is useful for your work, please cite our paper:

@INPROCEEDINGS{Manyam-RSS-23, 
    AUTHOR    = {Satyanarayana  Gupta Manyam AND Abhishek Nayak AND Sivakumar  Rathinam}, 
    TITLE     = {{G*: A New Approach to Bounding Curvature Constrained Shortest Paths through Dubins Gates}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2023}, 
    ADDRESS   = {Daegu, Republic of Korea}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2023.XIX.059} 
}

Dependencies

• Python>=3.8
• NumPy
• pydubins
• matplotlib
• DubinsLineSegToLineSeg