Ahmadzadeh, AliJadbabaie, AliPappas, George JKumar, Vijay2023-05-222023-05-222008-06-112009-10-01https://repository.upenn.edu/handle/20.500.14332/34783This paper investigates a path planning algorithm for Dubins vehicles. Our approach is based on approximation of the trajectories of vehicles using sequence of waypoints and treating each way point as a moving particle in the space. We define interaction forces between the particles such that the resulting multi-particle system will be stable, moreover, the trajectories generated by the waypoints in the equilibria of the multi-particle system will satisfy all of the hard constraint such as bounded-curvature constraint and obstacle avoidance.collision avoidancemulti-robot systemsDubins vehiclesbounded-curvature constraintbounded-curvature path planningelastic multiparticle systemsinteraction forcesobstacle avoidancePresentation