The main interest of this library is to offer smooth (continuous-curvature) efficient (close to the optimal) motions for mobile robots.

This first version handles forward-only paths: curvature continuity has less importance when the robot can stop, and efficient selection of locally optimal parts still needs complementary studies.

Obtained paths correspond to locally optimal motions with constant velocity for mobile robots, either car-like or with differential-wheels (e.g. Hilare or Khepera). Classical paths (with a discontinuous curvature profile) are also provided. Both paths can also be used for aerial robots, as the motion constraints of those are similar to those of mobile robots.

More details can be found in the articles listed in the bibliography. Smooth motions for other type of robots will be handled in future versions.