Semigroups in the simply connected covering of SL(2).
Dubins' problem is intrinsically three-dimensional
In his 1957 paper [1] L. Dubins considered the problem of finding shortest differentiable arcs in the plane with curvature bounded by a constant and prescribed initial and terminal positions and tangents. One can generalize this problem to non-euclidean manifolds as well as to higher dimensions (cf. [15]). Considering that the boundary data - initial and terminal position and tangents - are genuinely three-dimensional, it seems natural to ask if the n-dimensional problem always reduces to the...
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