| The geometry of time-optimal trajectories for an omni-directional robot (2009) | |||||||||||||||
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| The optimal trajectories are known analytically for only a few ground vehicles: steered cars (Dubins 1957; Reeds & Shepp 1990), and wheel-chair-like differential-drive vehicles (Balkcom & Mason 2002). This paper presents the analytical | |||||||||||||||
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