@inproceedings{2984e2ed4c6847efae37ebe29a1da1aa,
title = "Reparametrization of 3D CSC Dubins Paths Enabling 2D Search",
abstract = "This paper addresses the Dubins path planning problem for vehicles in 3D space. In particular, we consider the problem of computing CSC paths{\textemdash}paths that consist of a circular arc (C) followed by a straight segment (S) followed by a circular arc (C). These paths are useful for vehicles such as fixed-wing aircraft and underwater submersibles that are subject to lower bounds on turn radius. We present a new parameterization that reduces the 3D CSC planning problem to a search over 2 variables, thus lowering search complexity, while also providing gradients that assist that search. We use these equations with a numerical solver to explore numbers and types of solutions computed for a variety of planar and 3D scenarios. Our method successfully computes CSC paths for the large majority of test cases, indicating that it could be useful for future generation of robust, efficient curvature-constrained trajectories.",
keywords = "3D path planning, Dubins vehicle, Numerical solver",
author = "Ling Xu and Yuliy Baryshnikov and Cynthia Sung",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.; 16th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2024 ; Conference date: 07-10-2024 Through 09-10-2024",
year = "2026",
doi = "10.1007/978-3-032-09967-9\_21",
language = "English (US)",
isbn = "9783032099662",
series = "Springer Proceedings in Advanced Robotics",
publisher = "Springer",
pages = "417--435",
editor = "Amato, \{Nancy M.\} and Katie Driggs-Campbell and Marco Morales and Chinwe Ekenna and O{\textquoteright}Kane, \{Jason M.\}",
booktitle = "Algorithmic Foundations of Robotics 16, Volume 1 - Proceedings of the 16th Workshop on the Algorithmic Foundations of Robotics",
address = "Germany",
}