… Dubins tour that is tangential to each orbit at some point. We consider a shortest Arc-to-Arc
Dubins (ATAD) path … of ATAD is to find the shortest Dubins path such that the initial and final …

… , in which switchings are associated to passages from arc to arc and each discrete state is
associated to a specific … Each edge (i, j) is associated to a Dubins path, which is defined as the …

… differentiable smooth path that approximates Dubins paths with … -zero curvature (or arc-to-arc)
configurations on both ends is … Dubins path is the shortest path between two configurations …