gaosz0755 / gdip

Optimal solution of the Generalized Dubins Interval Problem (GDIP)

Generalized Dubins Interval Problem (GDIP)

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

DTRP solution

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

Basic usage in C++ and library compilation

C++ library