====== Lab08 - Curvature-constrained Data Collection Path Planning (DTSPN)  ======

^ Motivations and Goals  ^
| Become familiar with Dubins maneuvers |
| Become familiar with the Dubins TSP with neighborhoods |
| Become familiar with its decoupled solution |
| Become familiar with Noon-Bean transformation |
^ Tasks ([[courses:uir:internal:instructions:lab07|teacher]]) ^
| [[courses:uir:hw:t2b-dtspn|T2b-dtspn]] **(7 Points)** Implement the decoupled solution for DTSPN |


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

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==== Decoupled Approach ====
Slide 36 in [[https://cw.fel.cvut.cz/wiki/_media/courses/uir/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.

*/