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Optimal solution of the Generalized Dubins Interval Problem (GDIP)

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# Generalized Dubins Interval Problem (GDIP)

[![Build Status](https://app.travis-ci.com/comrob/gdip.svg?branch=master)](https://app.travis-ci.com/github/comrob/gdip)

This repository provides the optimal solution of the GDIP wchich enables to find a tight lower-bound for the Dubins Traveling Salesman Problem with Neighborhoods (DTSPN). The provided source codes are implemented in C++11 and presented at RSS 2018 conference. Please, cite the journal version.

```
@article{vana20auro,
  author = {Váňa, Petr and Faigl, Jan},
  title = {Optimal Solution of the Generalized Dubins Interval Problem Finding the Shortest Curvature-constrained Path Through a Set of Regions},
  journal = {Autonomous Robots},
  volume = {44},
  number = {7},
  pages = {1359--1376},
  year = {2020},
  doi = {10.1007/s10514-020-09932-x}
}
```

This paper has been nominated for **the best student paper** at RSS 2018 conference.

## GDIP example

![GDIP example](https://raw.githubusercontent.com/petvana/images/master/gdip/basic-gdip-example-small.gif)

## DTRP solution

Feasible solution (blue) and the corresponding lower bound (red).

![DTRP solution](https://raw.githubusercontent.com/petvana/images/master/gdip/rss-example-small.gif)

## Basic usage in C++ and library compilation

[C++ library](gdip/GDIP.md)

gdip

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