====== Lab07 - Dubins Traveling Salesman Problem with Neighborhoods - Decoupled Approach ======

^ Motivations and Goals  ^
| Become familiar with Dubins maneuvers |
| Become familiar with the Dubins TSP with neighborhoods |
| Become familiar with its decoupled solution |
^ Tasks ([[courses:b4m36uir:internal:instructions:lab07|teacher]]) ^
| [[courses:b4m36uir:hw:t2b-dtspn|T2b-dtspn]] **(5 Points)** Implement the decoupled solution for DTSPN |
^ Lab resources  ^
| {{ :courses:b4m36uir:hw:uir-t2b-dtspn.zip |T2b-dtspn resource package}} |


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==== Dubins Vehicle ====
[[https://cw.fel.cvut.cz/wiki/_media/courses/b4m36uir/lectures/b4m36uir-lec06-slides.pdf|Lecture 06]]

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==== Decoupled Approach ====
Slide 36 in [[https://cw.fel.cvut.cz/wiki/_media/courses/b4m36uir/lectures/b4m36uir-lec06-slides.pdf|Lecture 06]]

The decoupled approach comprises the following basic steps
    - Estimate sequence of visits by Euclidean TSP connecting centers of the regions.
    - For each region, sample boundary points and heading angles.
    - Find the shortest feasible tour comprising Dubins maneuvers connecting the regions, where the sequence of visits is estimated from the ETSP.