The Johns Hopkins University Press

On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed
Initial and Terminal Positions and Tangents

Author(s): L. E. Dubins
Source: American Journal of Mathematics, Vol. 79, No. 3 (Jul., 1957), pp. 497-516
Published by: The Johns Hopkins University Press
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ON CURVES OF MINIMAL LENGTH WITH A CONSTRAINT ON
AVERAGE CURVATURE, AND WITH PRESCRIBED INITIAL
AND TERMINAL POSITIONS AND TANGENTS.*1
ByL. E. DUBINS.
1. Introductionand summary. Let a particlepursue a continuously

differentiable path froman initial point u to a terminalpoint v. Suppose
that its speed is unityand suppose that its velocityvectorsat u and v are
U and V respectively.We are interestedin a path of minimallengthfor
the particle. It is easy to see that thereexist u, U, v and V for whichno
path 6f minimallengthexists. We need some furtherreasonablerestriction.
At first,it seemsnatural to requirethat the path possessa curvatureevery-
where,and to prescribethat its radius of curvaturebe everywhere greater
than or equal to a fixednumberR. But again thereexist (u, U, v, V, R) for
whichno path of minimallengthexists (Proposition14). The difficulty is
that we have imposedtoo severe a restriction. In order to arrive at the
correctrestrictionto impose,we observethat if X is a curvein real n-dimen-
sional Euclidean space, parameterizedby arc length,for whichX" (s) exists
everywhere, thenthe curvature,11X" (s) I, is less than or equal to RB1every-
where,if and onlyif,
(1) II X'(sl) - X(s2) 1 R-1 I 5-2 1,
forall s1 and S2 in the intervalof definition of X. By the averagecurvature

of X in the interval[sl, s2] we mean the leftside of (1) dividedby S1 S2 |. -
We say that a curveX in real Euclidean n-spaceparameterized by arc length

has averagecurvaturealways less than or equal to B-1 providedthat its first
derivativeX' existseverywhere and satisfiesthe Lipschitzcondition(1). We
inquire,forfixedvectorsu, U, v, V in real n-dimensional Euclidean space,E,n,
and a fixedpositivenumberR, as to the existenceand natureof a path of
minimal length among the curves in En, of average curvatureeverywhere
less than or equal to R-1. Now we findthat paths of minimallengthneces-
sarilyexist. We call such a path an R-geodesic. The purposeof this paper
* ReceivedApril 28, 1956; revisedJanuary3, 1957.
1 This researchwas supportedin part by the UnitedStates Air Force throughthe
Air Force Officeof ScientificResearchof the Air Researchand DevelopmentCommand.
497
4

498 L. E. DUBINS.
is to prove Theorem 1, which implies that for n =2, an R-geodesic is

necessarilya continuouslydifferentiable
curvewhichconsistsof not morethan
threepieces,each of whichis eithera straightline segmentor an arc of a
circle of radius R. Furthermore, the corollaryto Theorem1 implies that
threeis the least integerfor whichthis is true. The nature of R-geodesics
for n ? 3 is open.
2. Existence of R-geodesics. Let u, v, U and V be vectorsin real

n-dimensionalEuclidean space, B... Let 11U jj 11V 11 I and let R > 0.
5 -
Let C = C(n, u, U, v,V, R) be the collectionof all curves X definedon a

closed interval[0, L], whereL= L(X) varies withX, such that X(s) E E.
for 0 < s <L; X'(s) l 1; the averagecurvatureof X is everywhere
- less
than or equal to R-1; X(0) =-u, X'(0) =U, X(L) -v and X'(L) =-V.
PROPOSITION 1. For any n, u, U, v, V, and R, thereexistsan X in
C = C (n, u, U, v, V, R) of minimallength.
Proof. We omitthe verification that C is non empty. Let X1 E C. Let

di be the length of X1 and let d be the infimumof lengthsof all curvesin C.
Clearlyd _ dl. There exists a sequenceX, E C such that the length dnof
X, is monotonelydecreasingto d. Since 11X.' (s) 11- 1, it followsthat the
X,' are a uniformly boundedfamilyof functions. Since 1iX,1(si) - X,'(s,) 11
?R-' s- s- I for all s, and s2 in the interval[0, d], it followsthat the
X' also form an equicontinuousfamilyon [0, d]. Thereforeby Ascoli's
theorem,[1], thereis a subsequenceof the X. whose derivativesconverge
uniformlyon [O,d] to a functionY. For convenience,we assume that
X,, is itself such a sequence. It is easy to see that Y(O) ==U and
YY(sI)- Y(82)I R-? 1 sl-s2 for all s, and s2 in [0,d]. Since
Xn(S) X-n
(0) + (t)dt= u +
Xn" 5X (t)dt
it followsthat for 0 _ s?< d,
fXn(s) Xm(s)if
? 5I XU(t) dt< d supIIXn'(t) -Xtn'(t) II,
Xm'(t)11
wherethe sup is taken over t in [0, d]. ThereforeX. convergesuniformly

in [0, d] to a functionX. Since X,,' convergesuniformlyto Y and X.
convergesto X it followsthat X' = (limX,)' = limX,',= Y. It is elemen-
tary to completethe proofof the theoremby showingthat X(d) = v and
X'(d) =-V. Namely,

CURVES OF MINIMAL LENGTH. 499
X (d) -v X_ X(d) -Xn(d) 11+ 11Xn (d) -v 11

=- 11X (d) X,n (d) 11+ 11Xn (d) -X (dn) 1 C1 X (d) -Xn (d) 11+ dn-d
whichconvergesto zero as n approachesinfinity.Also,
I '(d) - V11_ I X' (d) -Xn'(d) 11+ 11

Xn'(d) - V
=IX'(d) -X '(d) 11+ 11Xn'(d) -XXn(dn) || X'(d) -Xn'(d) 11
+ R-1 !dhIn d|
whichalso convergesto zeroas n approachesoo. Thus X (d) v, X'(d) = V,
and thereforeX E C, and X is of minimallength.
3. Some preliminarypropositions. The purposeof this sectionis to

proveProposition6. We beginby borrowingideas fromE. Schmidt'sproof,
[2], of A. Schur's Lemma and therebyprove:
PROPOSITION less
2. Let X be a curveof average curvatureeverywhere
than or equal to R-1 and Let Z be a semicircleof radius R. Then
(2) X'(s) -X'(t)

11 11_ Z'(s) - Z'(t) 11,
and
(3) (Xt'(s),X'(t)) ? (Z'(s), Z'(t))
forany fixeds and t, s < t, equality
forall s and t in [0,7rR]. Furthermore,
holds in (2) if and only if equality holds in (3), and equality holds in
(3) ifand onlyif X(r) is an arc of a circleof radius R for s ? r? t.
Proof. Condition (1) implies that X" (s) exists almost everywhere
and is a measurablefunctionof s boundedby R-1. Therefore
I 3' IIX"(r)l 1dr R-' I s- t.
Since X' is absolutelycontinuous,we see that the arc lengthof the curve
X'(r) for s?r?t is less than or equal to R-'Is --t. Sincs X'(r) is a
curveon the surface,S,, of the unit spherein En, it followsthat the length
of a geodesic on this surfacewhich connectsX'(s) and X'(t) is certainly
less than or equal to R-1I s - t 1. That is, the greatcircle on S,ncontaining
both X'(s) and '(t) is divided into two arcs by '(s) and X'(t). The
lengthof the smaller of these is ?R-' I s -t . It is well knownthat if
two greatcirculararcs on the unit spherein En are each of lengthless than
or equal to 7r,then the lengthof the chordsubtendedby the smallerarc is
less than or equal to the lengthof the chord subtendedby the larger arc.

500 L. E. DUBINS.
Therefore,for R-1I s-t X

'7r, 11E'(s) -X'(t) 11is less than or equal to
thelengthof thechordsubtendedby a greatcirculararc of lengthR-1I t -s
It is easy to see that for I t s 7rR, Z'(s) -Z'(t) is the length of
sucha chord. Therefore1 X'(s) - X'(t) 1_C_ Z'(s) - Z'(t) IIfor s - t j ? R7r.
This completesthe proofof the firstpart of the proposition.
It is trivialthat if X (r) is an arc of a circleof radius R for s < r t,
then 11X'(s) -X'(t) = Z'(s) -Z'(t) l. Assume, therefore,for some s
and t,O_ s < t'_ 7rR,that1I '(s) -' (t) 11 Z'(s)-Z'(t) II. It follows
that the lengthof the smallergreat circulararc betweenX'(s) and X'(t)
equals R-1I s-t I. Thereforethe arc lengthof the curveX', for s _ r < t,
is ? R-1Is-t 1. Sinceit waspreviously shownto be ? R-1Is-t 1,wecon-
clude that it equals R-1I s- t 1. ThereforeX' is a geodesicon Sn connecting
X'(s) with X'(t). ThereforeX' (r) is an arc of a unit circle of lengtl
R-1Is-tI for s?r?t. It now easily followsthat X(r) is an arc of a
circleof radius R fors < r? t. The remainderof the proofof the proposi-
tion is trivial.
PROPOSITION 3. Let X be a curveof averagecurvatureeverywhere
less
than or equal to R-1 and let Z be a semicircleof radius R. Let y be the
vectorof lengthR determinedby the conditionthat Z(0) +?y is the center
of the semicircleZ. Let A be any vectorof lengthR orthogonalto X'(0).
Then
(1) (Z'(s), y) > (X'(s),A)
for 0 .? s? ji7rR. Furthermoreequalityholds for some s in this intervalif
and onlyif X(r) is an arc of a circleof radiusR for 0 <r < s, and A is the
vectorof lengthR determinedby the conditionthat X(0) +A is the center
of the circle determinedby X.
Proof. It is easy to see that Z'(s) is a linear combinationof the two
unit orthogonalvectorsZ'(0) and y/1R. Therefore
(2) 1 = (Z'(s), Z'(s)) = (Z'(s), Z'(0) )2 + (Z'(s), y/R)2.
By Proposition2, we have,
(3) (X'(s),X'(0)) > (Z'(s),Z'(0)).
Since (Z'(s),Z'(0)) z0 for 0?s 17rR,we see that (3) implies

(4) (X'(s), X'(0) )2 > (Z'(S), Z'(0) )2.
Combining(2) and (4) we get

(5) 1 ? (XY'(s),X'(0) )2 + (Z'(s),,y/R)2.

Since A/R and X'(0) are unit orthogonalvectors,it followsthat
(6) 1 = (X' (s),XX(s) ) >~!(X'(s), X'(0) )2I + (X'(s),,R/) 2.
From (5) and (6) we immediatelyobtain

(7) (Z'(s), y/R)2? (X'(s),A/R)2
Since (Z'(s),y/R) >0 for 0?s<?7rR, we conclude from (7) that
(8) (Z'(s),) _ (X'(s),A)

for 0 ? ?s j7rR. This provesthe firstpart of the proposition.
Assumenow, for some s, 0?8? s rR, that equalityholds in (8). It

is easy to see that,therefore,
equalitymust hold in (7). This impliesthat
equality must hold in both (5) and (6) for this particulars. From the
equality in (5) we obtain equality in (4) and hence, equality in (3).
Therefore,by Proposition2, X (r) is an arc of a circle of radius R for
0 ? r? s. Equality in (6) implies that X'(s) is spanned by X'(0) and
A/R. Since A is orthogonalto X'(0) it is eitherthe vectordeterminedby
the conditionthat X (0) +A is the centerof the semicircleX or the negative
of this vector. For 0 < s 7 l7rR,it is not the negativeof this vectorsince
0 < (Z' (s),y) (X'(s), A) .
PROPOSITION4. Let X be a curve with average everywhere less than

or equal to R-' and let A be any vectorof lengthR orthogonalto X'(0).
Then
(X(s)-X(0)-A, X'(s)) ?0
for 0 8s<jilrR. Furthermore,equality holds for some s in this interval
if and onlyif X(r) is an arc of a circleof radius R for 0 ?r?s and A is
the vectorof lengthR determinedby the conditionthat X(0) + A is the
cenlterof the circledeterminedby X.
Proof. It is easy to see that
(9) (X(s) -X(0)-A, X' (s) (; t (s)(t).X ) dt (s)

for
(X(s) -X(0) - A,X'(s) (X(s) -X(0), X'(s)) (A,X'(s))
(J
=
(10) = x(t)dt,X'(s)) -(A,X'(s))
- Sf(X'(t), X'(s) )dt (A,X'(s)).

502 L. E. DUBINS.
Let Z (s) and y be as in the hypothesisof Proposition3. Then Propositions

2 and 3 implythat (10) is greaterthan or equal to
(11) j'(Z'(t), Z'(s) )dt- (y,Z'(s)).
It is easy to see that (11) is equal to

(12) (Z (s) -Z (0) --,Z' (s))
for the argumentis the same as the one whichestablishedequalityin (9).
We now observethat (12) equals one half of
(13) d (Z(s) -Z(0) -y, Z(s) -Z(0) -y)/ds,
whichin turn is equal to
(14) d 11Z(s) -Z(O) -y 112/ds=dR2/ds=0.
We now prove the second part of the theorem. Assume that for some s,
0 < s j7rR,
(15) (X(s) -X(0) -A, X'(s)) -0.
Thus theinequalitiesfrom(9) through(14) becomeequalities. In particular,

(10) equals (11). But in virtueof Propositions2 and 3, equalityin (10)
and (11) imply:
(16) X(X'(t), X(s) )dt- (Z'(t), Z'(s) )dt;

and
(17) (A, '(s)) = (y,Z'(s)).
Thus if (15) holds, (17) necessarilyalso holds. We now invokethe second
part of Proposition3 to completethe proofof the non-trivialpart of the
presenttheorem.
Our previouspropositions are valid forcurvesX in any Euclidean space.
However,our next two propositionsdeal only with planar curves. At each
point of a differentiableplanar curve X there are two tangenitcircles of
radius R. The curveX induces on each of these circlesan orientation,so
that one of these circles is orientedclockwise,the other counterclockwise.
Let Z8 and Y8 be, respectively, the counterclockwiseand cloc7cwise
oriented
circlesof radius R, tangentto the curveX at the point X(s).
PROPOSITION 5. Let X be a planar curvewithaveragecurvatureevery-
whereless than or equal R-'. Let D(s) be the distancebetweenthe center

of the circle Y8 and the centerof the circleZO. Then D (s) is a monotone
non-decreasing functionof s for 0 < s? jirR. Furthermore, D(s) = D (0)
forsomes in thisintervalif and onlyif X (r) is a continuouslydifferentiable
curvein [O,s] such that,for some r0 in the closedinterval[O,s], X(r) is a
counterclockwise orientedarc of a circle of radius R for 0 ? r? rO and
X (r) is a clockwiseorientedarc of a circleof radius R for ro?r?s.
Proof. Let f(s) equal D2(s). We showthat f is non-decreasing.Let

T be a rotationthroughan angle of Fr in the counterclockwisedirection.
Clearly
(18) D(s) - 11 X(s) -RT(X'(s)) -X(0) -RT(X'(0))
Since both X and X' are absolutelycontinuousand the product of two

absolutelycontinuousfunctionsis likewiseabsolutelycontinuous,it follows
that f(s) is absolutelycontinuous. Furthermore
(19) f(s) 2(X(s) -RT(X'(s)) -X(O)-RT(X'(0)), X'(s) -RTX"(s)),
Since T(X'(s)) is orthogonalto both X'(s) and T(X"(s)), it followsthat
(20) f'(s) 2 (X(s) -X(0) - RTX'(0), X'(s) - RTX" (s) )

for all s forwhichX" (s) exists. Furthermore, - T (X" (s)) is some scalar
multipleof X'(s), say, -T(X"(s)) =- k(s)X'(s). Therefore
(2:1) f'(s) =-2 (X (s) - X(0)- ITX.'(0), X' (s) + Rk(s) X'(s))
or equivalently,
(22) ft'(s)= (1+Rk(s))(X(s)--X(0)-RTY'(O),X(s))

for all s such that k(s) exists. Furthermore, X" (s) 1
since 11 R-1,
(23) 1+Rk(s)?0.
We easily concludefrom (22), (23) and Proposition4 that f'(s) > 0

almost everywhere.Since we already showedthat f(s) is absolutelycoln-
tinuousit followsthat f(s) is montonenon-decreasing.Hence, so is D (s).
This completesthe proofof the firstpart of the theorem. Now assume
that D(s) ==DD(0) for some s with 0 < s? 1irR. Since D is monotoneit
followsthatD (r) = D (0) forall r with0 ? r ? s. Therefore,f(r) = D2 (r)
is constantand consequentlyf'(r) 0 for 0 ? r ? s. It followsfrom (22)
that for everyr forwhichk(r) exists,either
(24) 1 +Rk(r) =0 or (25) (X(r) -X(0)-RTX'(0),X'(r))=0.

504 L. E. DUBINS.
Let r0be the least upperboundof the set of r in [0, s] forwhich (25) holds.
By continuity of X and X', it is easy to showthat (25) also holdsforr = ro.
By the secondpart of Proposition4, we concludethat X(r) is an arc of a
circle of radius R for 0 ? r? ro. Again by (25), we conclude that this
arc is counterclockwise oriented. Supposero< s. Then forall r in the half-
closedinterval(ro,s] forwhichk(r) exists,(24) holds. Thus k(r) - -1
for all r in (ro, s] forwhichic(r) exists. Since X' is absolutelycontinuous,
it is easy to prove,therefore, that X (r) is an arc of a circle of radius R
for (ro,s]. Since k(r) is negativethis arc is clockwiseoriented. Since X
and X' are continuousat r = ro, the propositionis proven.
As an immediatecorollaryto Proposition5 we obtain the main result
of this section:
PROPOSITION 6. Let X be a planar curvewithaveragecurvatureevery-
where less than or equal to R-1 and let s be any point in the closed interval
[0, jRr]. Then the circleY8 is eitherdisjointfrom,or tangentto, the circle
ZO. FurthermoreYJfis tangentto ZO if and onlyif X(r) is a cottinuously
curvefor 0 < r ? s such that,forsomer0itnth7eclosedinterval
differentiable
[O,s], X(r) is' a counterclockwise orienitedarcCof a circle of radi2usR for
O?r ? r0, and X(r) is a clockwivise orienttedarc of a circle of radius R for
1 ?- r ? 5s.
It is of courseobviousthatthereis a propositionsimilarto Proposition6

whichis concernedwith the circlesZ8 and YO, ratherthan ZO and YR. We
do not statethistheorembutwill also referto it as Proposition6 in the sequel.
4. Certain curves are R-geodesics. The purposeof this sectionis to
prove Proposition9 which states that certain curves,composedof arcs of
circlesof radius R and straightline segments,are R-geodesics.
Let X(s) be a convex arc definedfor a_ s? b. Let mnbe the line
determined by the two pointsX (a) and X (b) and let T be the perpendicular
projectiononto the line mi. We will say that a point p is above the curveX
providedthe line segmentwhoseend pointsare p and T(p) containsa point
of the arc X(s). And we will say that a curve Y(s) definedfor c ? s? d
lies above the curveX(s) providedthat the image underT of all pointof Y
which lie above the curve X is the segmentwhose end points are X (a)
and X(b).
We state withoutproofthe followingpropositionwhichis geometrically
obvious.
PROPOSITION definedon the intervals
7. Let X and Y be planar cutrzves

[a, b] and [c, d] respectively. Suppose that X is a convex arc and that
X(a) = Y(c) and X(b) =- Y(d). Then if Y lies above X the arc length
of Y is not less than the arc lengthof X, and equalityholds if and only
if Y is a one-oneparameterization of the range of X.
As an immediatecorollarywe have:
PROPOSITION 8. (See fig. 1.) Let d be the lengthof the smallerarc

of a circleZ determinedby two points A and B on Z. Let m be the half
Y(L)
Y(O)=AC
Figure 1.
to Z at B whichdoes not meet the interiorof Z. Suppose

r-ayperpenidicular
Y(s) is a continuous curveparameterizedby arc lengthfor 0_?s? L which
has no point in the interiorof Z. Suppose that Y(O) =A and Y(L) is
on rmn.Then L ?>d and equalityholds if and only if Y(s) is a 1-1 para-
meterizationof the smallerarc AB.
We will say that a continuouslydifferentiable curveY, witharc lengths
<
as parameter,definedfor a < s d, is of typeALA (Arc, Line, Arc) pro-
vided thereexist b and c witha ? b < c ? d such that Y restrictedto [a, b]
is a 1-1 parameterization of an arc of a circleof radiusR of lengthless than
or equal to -R7, and such that Y restrictedto [b, c] is a line segment,and
suchthat Y restricted to [c, d] is also an arc of a circleof radiusR of length
less than or equal to 'Rir.
PROPOSITION9. Let u, v, U, and V be vectorsin Euclidean 2 space
with 11 V 11= 1 and let R be a positivereal number. Suppose Y is
U 11 11

506 L. E. DUBINS.
of type ALA definedfor O?_s < d, and sutpposeY(0)=u, Y'(O) U,

Y(d) - v and '(d)-V. Then Y
is theuniqueR-geodesicin the collection
C =C(2, u, U, v, V,R) .
Proof. Supposethat0 ? d, ? d1+ d2? d and that Y restricted to [0, d1]
is an arc of a circle,Z1, of radiusR and length jR7r,and that Y restricted
to [d1,d, + d2] is a line segment,and Y restrictedto [d1+ d2,d] is an arc
of a circle,Z2, of radius R and lengthless than or equal to JR7r. Let mn1
be the line passing throughY(d,) and perpendicularto Y at Y(d,) and
let mq2 be the line parallel to m1 which passes throughY (d, + d.). Thle
plane is dividedby m1 and in2 into threestrips. Now let X be any curve
in C. By a connectedness argument,it is easy to see that thereis a least
positivenumbers, such that X (s,) is on n1l. We claim sl > d,. For either,
for all s, 0 <s ? s, X(s) is lnotin the interiorof the circle Z1, or, for
someso < si, X(so) is in the interiorof Z1. In the firstcase, the preceding
propositionimpliesthat s, ? d1. In the second case, Projosition6 implies
that so > -prR. Since sl > sO > -7rRB d,, it followsthat s1 > d1. Again
by a connectedness argument,thereis a smallestnumbers2 such that X (s2)
is on min. Since m1and mi, are a distanced, apart,it followsthats9? s, + d,.
Suppose L is any numbersuch thatX(L) = Y(d). An argumentsimilarto
the one whichshoweds, > d, will provethatL - s, ? d - (d1 + d,). There-
foreL ? d. Thus we've shownthat Y is an R-geodesicin C. Furthermore
the conditionsfor equalityin the precedingpropositionimplythat Y is thle
unique R-geodesicin C. This completesthe proof.
5. Anotherpreliminaryproposition. It is the purposeof this section

to prove Proposition13 which states that aIn R-geodesicconsistsof pieces,
each of whichis eithera straightline segmentor an arc of a circleof radius
R. But firstwe need a few prelimiinarv definitionsand propositions.
Let L (s) be a parameterizedstraightline segmentfor a s < b, where __
s is arc lengthforL. We will say that the linlesegmentleavesa curveX (s)

at the point X(so), provided that L(a) =X(so) and L'(a) = '(s0).
Similarly,we say that the parameterizedline segmentarrivesat the curve
X(s) at the point X(so), providedthat L (b) = X (so) and L'(b) -X'(s, ).
We state withoutproofthe followingobviousgeometricfact.
PROPOSITION 10. If C(s) and B(s) are any two distinctsimilarly
orientedparameterizedcircles of radius R in a plane, then there exists a
unique parameterizedstraightline segmentwhich leaves C(s) and arrives
at B(s). Furthermore if C(s) and B(s) are oppositelyorientedthen-there

existsa parameterizedstraightline segmentwhich leaves C(s) and arrives

at B(s) if and onlyif no point of B(s) is in the interiorof C(s). If such
a segmentexists,thenit is unique.
PROPOSITION 11. Let X bea planarcurvewithaveragecurvatureevery-

where less than or equal to R-1 definedfor 0 ? ?< d ? irR/8. Then the
collection C = C(2,X(0),X'(0), X(d), X'(d), R) contains a curve IV of
type ALA.
Proof. It is convenientto assume that the plane 7r whichcontainsthe

curveX is the collectionof all orderedcouplesof real numbers. It is clearly
no loss of generalityto assumethatX(0) = (0,0) and that X'(0) =- (1,0).
We considerthe four circles ZO, Zd, Y0, Yd. Clearly ZO and YO are the
circlesof radius R with centersrespectively at (0,R) and (0,-R). It is
an easy consequenceof Proposition6 that if X(d) is on YO or Z., then X
is an arc of YO or ZO respectively.In this event,X is itselfof type ALA.
Thereforewe can assumethatX(d) is on neitherZO nor YO. An application
of the techniquesof Section 3 showsthat the firstcoordinatesof the centers
Of Zd and Yd are strictlypositive. There are only threecases to consider:
(1) everypointon Zd has a non-negative secondcoordinate;(2) everypoint
on Ye has a non-positivesecond coordinate; (3) some, but not all, points
on Zd have negativesecondcoordinates,and some,but not all, pointson Yd
have positivesecondcoordinates. We firstconsidercase (1). Proposition10
assuresthe existenceof a unique parameterized line segmentm whichleaves
ZOand arrivesat Zd. There are nowtwo subcases: (a), the slope of m is less
than or equal to the slope of X'(d); and (b), the slope of m is greaterthan
the slope of X'(d). Suppose (a) holds. Let A1 be the smallerarc of Z,
whoseend pointsare (0, 0) and the pointof tangencyof m withZO. Let A2
be the smallerarc of Zd whoseend pointsare X(d) and the pointof tangency
of m with Zd. Then one sees that the curve, W, which consistsof A1,
followedby m, followedby A2, satisfiesthe conclusionof the proposition.
Suppose now that subease (b) holds. Proposition6 impliesthat Zu and Yd
do not intersect. ThereforeProposition10 assuresthe existenceof a unique
parameterized line segmentn whichleaves ZO and arrivesat Yd. This time
we let A1 be the smallerarc of ZO whoseend pointsare (0, 0) and the point
of tangencyof n with ZO. Similarly,we let A2 be the smaller arc of Yd
whoseend pointsare X(d) and the point of tangencyof n with Yd. This
time one sees that the curve, TV,which consists of A1, followedby n,
followedby A2, satisfiesthe conclusionof the theorem.

508 L. E. DUBINS.
Case (2) is treatedsimilarly. We proceedto case (3). It is clear that

the firstcoordinatesof the centersof Zd and Yd are unequal. We suppose
the firstcoordinateof the center of Zd to be less than that of Yd. The
other case can be treated similarly. Propositions6 and 10 assure the
existenceof a unique directedline segmentm whichleaves YO and arrives
at Zd. Let A1 be the smallerarc of YO whoseend pointsare (0, 0) and the
pointof tangencyof m with YO. Let A2 be the smallerarc of Zd whoseend
pointsare X (d) and the point of tangencyof m with Zd. Then one sees
thatthecurve,TV,whichconsistsofA1,followedby m,followedby A2, satisfies
the conclusionof the proposition. This completesthe proof.
As an immediatecorollaryto Propositions9 and 11 we have:
Let X be a planar curveof lengthless than or equal

PROPOSITION 12.
to 7rB/8. ThenX is an R-geodesicif and onlyif X is of typeALA.
We can now easily establishthe main resultof this section.
PROPOSITION 13. Let X be a planar curve definedon a closed finite
interval [O,d] parameterizedby arc length. Then if X is an B-geodesic,
it is a continuously curvewhichconsistsof a finitenumberof
differentiable
pieces,each of whichis eithera straightline segment,or an arc of a circle
of radius R.
Proof. Since X' satisfiesa Lipschitzcondition,X is continuouslydiffer-
entiable. The interval[0, d] can be partitionedinto a finitenumberof sub-
intervalseach of lengthless than or equal to m-R/8.Clearly,X restrictedto
any of thesesubintervalsis also an R-geodesic. Thereforeby the preceding
proposition,X, so restricted,
is of typeALA. This completesthe proof.
6. Principal result. We wish to show that a planar R-geodesicis

necessarilya veryspecial curve,i. e. a continuouslydifferentiable
curvewhich
conisistsof at most threepieces,each of whichis eithera straightline seg-
ment or an arc of a circle o:fradius R. ErrettBishop pointedout to the
authorthat in view of Proposition13 it is sufficient to show that no curve
whichconsistsof foursuch pieces can be an R-geodesic.
Let us designatea continuouslydifferentiable curveby CCCC, provided
that it consistsof preciselyfourarcs of circlesof radius R. Similarlylet us
designateby CLCL a continuouslydifferentiable curve which consists of
preciselyfour pieces, the firstof which is an arc of a circle of radius R,
the seconda line segment,the thirdan arc of a circleof radius R, and the
last a line segment. Similarly any differentiable curve which consistsof

preciselyn arcs of circlesof radius R and line segmentscan be represented

by an n-tupleof symbols,each of whichis eithera C or an L.
We alreadyknowthat thereexist planar R-geodesicsof type OLO. We
will show that there exist planar R-geodesicsof type CCC. It is easy to
see that any subpathof an R-geodesicis an R-geodesic. We will show that
* is necessarily
everyR-geodesic a subpathof a path of typeCLC or of
typeCOc.
In orderto prove that everyR-geodesicis necessarilya subpathof a path
consistingof threearcs and line segments,it is sufficient to show that no
path consistingof four arcs and line segmentscan be an R-geodesic. There
are eight paths of this type,namely 0ccC, CCCL, CCLC, CLCC, CLCL,
LCCC, LCOL and LOLO. If a curveis an R-geodesic,then so is the curve
obtainedby traversingthe path in the oppositedirection. Therefore,if we
can show that no curve of type CCLC is an R-geodesic,we will also have
shownthat no curveof typeCLCC is an R-geodesic. Thus we wish to show
thatno curvesof type0CCC, COOL,OGLO,CLOL and LOCL, are R-geodesic.
Also, if a curveis an R-geodesic,thenso is everysubpathof the curve. Thus
if we can showthatno curveof typeCCL is an R-geodesicit will followthat
neitherare curvesof typeCCOL,CCLCand LCCL. Likewise,if we can show
that no curveof typeLCL is an R-geodesic, it will followthat neitheris one
of typeCLOL. Thusin orderto show* it is sufficient
to showthatnoneof
the followingthreetypesof curvesis an R-geodesic:0C0C, CCL, LCL. We
begin with a proofthat no curve of typeLCL is an R-geodesic. The proof
that no curve of type CCL is an R-geodesicis rathersimilar,and is there-
fore omitted. We then show that no curveof type 0CCC is an R-geodesic.
LEMMA1. If X is a curveoftypeLCL defined

for0 s< d, thenit is
not an R-geodesic.
Proof. Let P1P2PBP4 be a curveof typeLCL where: (1) P1P2is a line
segment,(2) P2P3is an arc of circleof radiusR, (3) P3P4is a line segment,
(4) P1P2is tangentto P2P3 at P2 and (5) P3P4 is tangentto P?P3at P4.
It is obviousthat we may assumeP,P3counterclockwise
orientedand we
do so. We now considertwo cases.
Case 1. (See fig.2.) The lengthof the arc P2P3is greaterthan zero
but not greaterthan 7rR. It is easy to see, by consideringsubpaths,that we
may assume that P,P] and P3P4 have the same length. Let S1 be the
counterclockwiseorientedcircleof radius R, tangentto P2P1at P1, whichis

510 L. E. DUBINS.
on the same side of P1P2 as is the arc P2P3. Similarly,let S2 be the

counterclockwise
orientedcircleof radius1, tangent
to P3P4 at P4 whichis
on thesamesideof P13P4 as is thearcP2P3. Thereexistsa uniqueline
segmentQ1Q2whichleavesS and arrivesat S2. Since the arc lengthof
P-
4 p
s s
Figure 2.
0I
pPa
P4 1
I
~~~~~/ ,.
Si
Figure 3.
P.,P3does not exceed 7rR,the curve P1Q1Q2P4is of type ALA, and hence,
by Proposition9, it is the unique R-geodesicwith initial and finalpositions
X(O) and X(d) respectively, and initial and final tangentvectorsX'(0)
and X' (d) respectively.
Case 2. (See fig. 3.) The lengthof the arc P2P8 is strictlybetween
irR and 27rR. It is clear that by consideringsubpathswe may assume that
the segmentsP1P. and P3 P4 do not intersect. Let S1 be the clockwise

orientedcircle of radius R tangentto P1P2 at P1 whichis on the opposite

side of P1P2 as is the arc P2P. Let S2 be the counterclockwise oriented
circle of radius R whichis tangentto S. and to P8P4. Let P2' and P3' be
the pointsof tangencyof 82 withS, and P3P4 respectively.We will complete
our proofby showingthat the path P1P2'P3'P4 has lengthstrictlyless than
the lengthof X, where: (a) P1P2' is the shorterarc of S with end points
P1 and P2'; and (b) P2'P3' is the longer arc of S2 with end points P2'
and P3'; and (c) P3'P4 is the line segmentwithend pointsP3' and P4. It is
sufficientto show that P,P2'P3' is shorterthan P1P2P3P3',whereP1P2 and
P2P3wereas definedaboveand whereP3P3' is theline segmentwithend points
P3 and P3'. There shouldbe no ambiguiity in the remainderof this proofif
we use the symbolP2P3 to representthe lengthof the arc P.,P3 as well as
the arc itself,similarlyfor other arcs and line segments. Thus we will
completeour proofby showing
(1) P1P2' + P2P3' < P1P2+ P2P3+ PSP3'.
Let u2 and u2' be defined
byRu2= P2P3 and Ru2' PF'P3'. Let u/l'be the
angle betweenthe tangentvectorsto 81 at P1 and P2'. It is easy to see that
(1) is equivalentto
(2) P1P2' + Ru2' < P1P2 + Ru2+ P3P3'.
Furthermore,
since U9 = U2'- U1' we see that (2) is equivalentto
(3) PjP2' + Ru1' < P1P2 + P3PF3'
For i = 1 and 2, let Q. be the centerof Si. PJ'.3 is an arc of a circlewhose

centerwe designateby Qz. Let QIQ2 be the arc of the circle of radius 2R
withcenterQl, whichis concentricwiththe arc P'P2'. Clearly,the arc Q,Q2
has a lengthequal to the left side of (3), whereasthe segmentsQ,Q3and
QSQ2 have lengthsequal respectivelyto P1P2 and P3P3'. Thus (3) is equiva-
lent to
(4) Q4Q2 < Q4Q8 + QSQ2.
Since thearc Q4QBQ2 lies abovetheconvexarc Q4Q2, Proposition7 implies

(4). This provesthe lemma.
We are indebtedto Errett Bishop for the main ideas in the proofof
the followinglemma. We also wish to thankHorace Mooreforpointingout
an errorin an earilerversion.
LEMMA 2. No pathof type0C00 is an R-geodesic.

512 L. E. DUBINS.
Proof. (See fig.4.) Assumeotherwise and let X be a pathof type

CCOCwhichis an R-geodesic.Let PO and P4 be the initialand terminal
pointsofX. X consists offourarcsofcircles. Let thefirstarcofX be anl
arc of thecircleS1 withcenterQ, and let the last arc of X be an arc of
thecircleS4 withcenterQ. It is no lossofgenerality to assumethatR = 1,
i.e., the radiusof S, is 1. Let 2d be the distancebetweenQ1 and Q,.
to assumethatS, is oriented
Clearly0 ? 2d ? 6. It is no lossof generality
clockwise.We mayalso assumethat the planehas rectangularcoordinates
withthe originat Q. We may further assumethat Q4 has coordinates
Ro t
Us Us
uS 04
of 8
Figure4.
(2d,0). Let Ro be the point(0,1). Ro?is on S1. Let R4 be the point

(2d, -1). R4is on S.. Nowlet W be thecollection of all pathsY of the
typeCCCC withinitialpointP0 and terminal pointP4 and wherethefirst
arc of Y is a clockwiseorientedarc of thecircleS1 and wherethelast arc
of Y is a counterclockwiseorientedarc of the circleS,. Y-PoXIP2P3P4P
wherePv1P4is an oriented arc withlengthLi of an oriented circleSi with
centerQi fori = 1,2,3,4 and whereSi is tangent to Si,, at thepointPi for
i =1, 2, 3. Here S., S4, P0 and P4 are fixedwhereasS2, Ss, P1, P2, P3, L1,
L2,Ls andL4 varywithY. Let ul be thearclengthoftheclockwise oriented
by u1+ u, = L2 and
arc RoP1 of the circleSi. Let u2 and u3 be defined
U2+ uz3 L.. Clearly
L- L1 + L2+ L3 + L4
-(L1 - u 1+%) + (u1+ u2) + (U2+U3) + (U3+L4-U3)
- L,-ul+2(ul+u2+uS) +L4-us.

Furthermore, L1 - u1 and L4 -u are constantsindependentof Y in W.

Hence, a necessaryand sufficient conditionfor L(Y) to attain its minimum
at X is thatul + u2+ u3 attainits minimumat X. Clearly (UlU, U2U3) is an
admissibletriad if and only if it satisfiesthe two constraints:
(1) sinu +fsinu. + sinu3=d and (2) cos u1-cos u2 + cos U3= O.
Thereare nowtwopossibilitiesforanypoint,(U1,u2,U3), at whicha minimum

of u1++ u2+?u3, subject to the two constraints,occurs: Either the cross
productof the two gradientvectors
W= (COS U1, COS Uq, COS U3) and W2 (- sin u1,,sin u2,-sin U3)
is the zero vectoror w, X w27L 0. Clearly

V1X W- (- sin(U2 + U3),sin(u3 -UI),sin(u, + u9)).
Suppose firstthat wI X w2 = 0. Then sin(u, + u,) =0. Then u, + u, is a

multipleof 7r. That is, L2, the arc lengthof P1P2, is a multipleof 7r. Since
X is assumedto be an R-geodesicof type C0CC, it is easy to see that L,
is neitherthe zero multiple of ir nor can L2 be as large as 21r. Hence
L2=- . Then part of X, namelyPOP1P2P3is a curve of type CCC, where
the middle arc is of length7r. But we have the following
SUBLEMMA. No curveof typeCCC, wherethe middlearc is of length
greaterthan zero but not greaterthan xrR,can be an R-geodesic.
We omit the proofof this sublemmafor it is quite similar to the proofof
Case 1 of Lemma 1. This sublemmaimplies that P0P1P2P3 is not an R-
geodesic. Hence X= POPP2P3P4 could not be an R-geodesic. Therefore,
we need onlyconsiderthe case wI X w2? 0. Hence,we may assumethat the
two constraints(1) and (2) determinea curve in the neighborhood of the
point (ul, u2,U3) at which the minimumof II ? U2+ u3 is attained,and
that w1X w2 is tangentto the curve. Let m minimumof u1+ u2+ u3
subject to the constraints. Then the plane U1+ u2 + i3 == M is tangent
to the constraintcurve at the point at which the minimumis attained.
That is, this plane contains the tangent vector w, X w2 at this point.
Equivalently,the vector (1, 1, 1) is orthogonalto w1 X w2. Hence
sin(u2+u3) +sin(u3- u) +sin(u1+u2) = 0.
to show that if sin(A + B) = sinA + sinB, then either

It is not difficult
A or B or A + B is a multipleof 2Xr.Thus,eitheru2 + U3 or U3 -U1 or
ul + u, is a multiple of 27r. But tit1+ u. = L,, the arc length of P1P2.

514 L. E. DUBINS.
Hence 0 < ul + u2 < 27r. Therefore ul + u2 is not a multiple of 2r. Simi-

larly u2 + u3 is not. Hence U3 - Ul is a multiple of 27r. Thus at the critical
point, w1 X w2= (sin(v2 + v1), O,sin(v2 ? V1)). Since wI X w2 : O, the first
component of the tangent w1 X wu is unequal to zero. Therefore, the con-
straint curve can be parametrized by u1. at least in a neighborhood of the
critical point. In the sequel, all differentiationswill be with respect to u,
in a neighborhood of the critical point. Differentiatingthe two constraints
we get:
u1' Costl + U2I COSU2 + U3' COSU83=, -1 sin ul + u2' sin U2- u' u
Sinu -
Furthermore, at the critical point, u1 + u2 + u3 is a minimum, and hence

u1' + U2' + U3 0-. These three equations imply that at a critical point
u2'sin(ul +u2) =0. Since sin(u, +u2) #A0, we conclude that u.' =O.
Hence u3' = i- u 1. We next observe that a necessary condition for
Ul + U2 + U3 to have a minimum at a regular point of the constraint curve
is that the inner product of r = (1, 1, 1) with the curvature vector be non-
negative. Let Z(s) = (ul(s),u2(s),Us3(s)) be a parametrization of the
constraint curve in a neighborhood of the critical point, where s is arc
length for the curve. Clearly dz/ds is the tangent vector. We may assume
that wl X w2(ul) =b(s)dz/ds, where b(s) > 0 and where s=-s(1) is a
function of ui. Hence (w, X w.)'= b(s) (d2z/ds2)s' + (db/ds)s'(dz/ds).
At the critical point, dz/ds is perpendicular to r. Hence (r, (wI X w2)')
= b (s) s' (r, d2z/ds2). Since b (s) > 0, we conclude that a necessary condition
for u1 + u2 + U3 to have a minimum is that s'(r, (w1 X w.2)') ? 0. Clearly
(W1 X W2)'
(- COS(U2 + u3)(U2' + U3s COS(U3 - U1)(U3 8-U1'), COS(U1 + u2)(u1' + u?')).
But at the critical point, u1 U3,

u,2' 0, ul11 u3' = 1. Hence
(wL X w2)' =(cos(u2 + u),-2, cos(u1 + u,)).
Therefore (r, (w, X W2)') = 2 cos (u4 + U2) -1. Hence, a necessary condition
for a minimum is that 2 s'(cos (u1 + u2) - 1) > 0. Hence, a necessary con-
dition for a minimum is either s' ? 0 or ul + u2 a multiple of 27r. Now we
observe that the first component of wI X w2 equals the first component of
b(s) dz/ds. Hence -sin (U2 + U3) =b (s) du1/ds. Since b (s) > 0, we have
sin (u2 + U3) 0O if and only if duj/ds 0O. Furthermore, since WI, X w2 0O
at a regular point, sin (u. + u3) #0 there. Hence
Sin(U2 + U8) > 0 * du/ d?0C 4 ds/du1- s' 0.

We again recall that U3 u1 at a critical point. Hence, a necessarycon-

ditionfor a minimumof u, + u2+ u,3subject to the two constraintsis that
0 -u1 + u2 ?<7r. Now X = POP1P2P3P4,whereL, the arc lengthof P1P2,
is ul + u2. By the sublemma,PoP1P2P8is not an R-geodesic. Hence, neither
is X. This completesthe proofof the lemma.
We have now establishedour main result:
THEOREMI 1. Every planar1R-geodesic is necessarilya continuously

curve which is either (1) an arc of a circle of radius R,
differentiable
followedby a line segment,followedby an arc of a circle of radius 1;
or (2) a sequenceof threearcs of circlesof radius R; or (3) a subpathof
a path of type (1) or (2).
COROLLARY. 'There existsan1R-geodesicof type CCC.
Proof. Considerthe problemof makinga U-turn. That is let X be an

R-geodesicwhose initial and terminal positionsare the same, and whose
terminaltangentvectoris the negativeof its initial tangentvector. Let P
be the finiteset which consistsof the paths of types (1), (2), and (3)
referredto in Theorem 1 with the prescribedboundaryconditions. In P
thereare two paths of type CCC. It is at most an elementarvcalculation
to showthat no path in P has a lengthless than eitherof these. Hence, by
Theorem1, these two paths are R-geodesics. This completesthe proofof
the corollary.
7. Non-existenceof paths of minimallength. Let u, v, U and V be

vectorsin real n-dimensionalEuclidean space, En. Let 11U 11 11V = 1
and let R > 0. Let C* - C* (n, u, U, v, V,R) be the collectionof all curves
X definedon a closed interval[0, L], whereL = L (X) varies with X such
that: X(s) E En for 0 < s? L; 11X'(s) _= 1; X"(s) existseverywhere and
IIX"(s)II ?11_ for 0_s_?L; X(O) =u, X'(O) U, X(L) v, and
'(L) =V.
PROPOSITION 14. There exist u, U, v, V and R such that the infimum
of the lengthof the curvesX in C* - C* (2, u, U, v,V,R) is not attained.
Proof. Let u=z(0, 0), U = (0, 1), v=(5, 0), V =(0, -1) and R =1.
It is easy to see that thereexists a curve Y of type ALA of length7r+ 3
such that Y E C = C(2, u, U, v, V, R). Proposition9 implies that Y is the
unique curveof minimallengthin C. It is clear that C* is a subsetof C
and that Y is not an elementof C*. To completethe proofof theproposition

516 L. E. DUBINS.
to showthat for any e > 0, thereexistsX E C* of lengthless

it is sufficient
than 7r+ 3 + 4e. We will defineX uniquely on an interval [0, Le] by
specifyingL6, X (0), X'(0) and the orientedcurvaturei (s) for 0 ? s _ L,.
Let X(0) =u, X'(O) =- U, and ic(s) =-1 for O? s ?17r e-. Let ic(s)
be linear for s between1r- e and j7r + E, and let 1c(j7r+ E) = 0. Now let
d be the firstcoordinateof the point X (ir + ). We can now continueto
define7c. Let k(s)O0 for -17r +,e s?_ 5 + 17r+ e- 2d. Let i (s) be
linear for s between5 + j7r + e - 2d and 5 + 17r-4 3.E- 2d. Lastly, let
kc(s) 1 for 5 + 7r+3E- 2d L,, whereLe 5+7r+2E- 2d. Thus X
is uniquelydefined. Since both the curvatureic and its antiderivativecan
easily be integratedby elementarymeans, it is at most an elementary
calculationto establishthat X indeed is in C*, and that the lengthL, of X
is indeed less than 7r+ 3 + 4E. We omit the details. The intuitiveidea
is thatX was constructed so as to be a twicedifferentiable
curvewhichapproxi-
mates Y in an appropriatesense. This completesthe proof.
In the courseof the proof,we showedthat the particularR-geodesicY
in C(2, u, U, v,V, R) had the propertythat given any E> 0, thereexists an
X in C*(2, u, U, v, V, R) whose length differsfromthe length of Y by a
quantity f(6) which goes to zero with E. It might be conjectured that
everyR-geodesichas this property. The followingis a counterexample to
this conjecture. Let Y be a continuouslydifferentiable
curvewhichconsists
of an arc of length 17rof a counterclockwise orientedcircle of radius 1,
followedby an arc of length 1-rof a clockwiseorientedcircle of radius 1.
We omit the proofthat such a Y is indeed a counterexample.
CARNEGIE INSTITUTE OF TECHNOLOGY.
REFERENCES.
[1] L. M. Graves, The Theory of Functions of Real Variables, New York and London,
1946.
[2] E. Schmidt,"tuberdas Extremumder Bogenlangeeiner Raumkurvebei vorge-
schreibenenEinschrAnkungen ihrer Krummung,"SitzungsberichteAkad.
Berlin (1925), pp. 485-490.
[3] A. Schur, "tTber die SchwarzscheExtremaleigenschaftdes Kreises unter den
KurvenkonstanterKrtimmung," Mathematische
Annalen,vol. 83 (1921),
pp. 143-148.


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On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed

Initial and Terminal Positions and Tangents

This content downloaded from 206.212.0.156 on Tue, 20 Aug 2013 07:39:01 AM

1. Introductionand summary. Let a particlepursue a continuously

forall s1 and S2 in the intervalof definition of X. By the averagecurvature

We say that a curveX in real Euclidean n-spaceparameterized by arc length

This content downloaded from 206.212.0.156 on Tue, 20 Aug 2013 07:39:01 AM

is to prove Theorem 1, which implies that for n =2, an R-geodesic is

2. Existence of R-geodesics. Let u, v, U and V be vectorsin real

Let C = C(n, u, U, v,V, R) be the collectionof all curves X definedon a

Proof. We omitthe verification that C is non empty. Let X1 E C. Let

wherethe sup is taken over t in [0, d]. ThereforeX. convergesuniformly

This content downloaded from 206.212.0.156 on Tue, 20 Aug 2013 07:39:01 AM

X (d) -v X_ X(d) -Xn(d) 11+ 11Xn (d) -v 11

I '(d) - V11_ I X' (d) -Xn'(d) 11+ 11

3. Some preliminarypropositions. The purposeof this sectionis to

(2) X'(s) -X'(t)

I 3' IIX"(r)l 1dr R-' I s- t.

This content downloaded from 206.212.0.156 on Tue, 20 Aug 2013 07:39:01 AM

Therefore,for R-1I s-t X

Since (Z'(s),Z'(0)) z0 for 0?s 17rR,we see that (3) implies

Combining(2) and (4) we get

This content downloaded from 206.212.0.156 on Tue, 20 Aug 2013 07:39:01 AM

Since A/R and X'(0) are unit orthogonalvectors,it followsthat

(6) 1 = (X' (s),XX(s) ) >~!(X'(s), X'(0) )2I + (X'(s),,R/) 2.

From (5) and (6) we immediatelyobtain

Since (Z'(s),y/R) >0 for 0?s<?7rR, we conclude from (7) that

(8) (Z'(s),) _ (X'(s),A)

Assumenow, for some s, 0?8? s rR, that equalityholds in (8). It

PROPOSITION4. Let X be a curve with average everywhere less than

(9) (X(s) -X(0)-A, X' (s) (; t (s)(t).X ) dt (s)

(10) = x(t)dt,X'(s)) -(A,X'(s))

- Sf(X'(t), X'(s) )dt (A,X'(s)).

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Let Z (s) and y be as in the hypothesisof Proposition3. Then Propositions

(11) j'(Z'(t), Z'(s) )dt- (y,Z'(s)).

It is easy to see that (11) is equal to

Thus theinequalitiesfrom(9) through(14) becomeequalities. In particular,

(16) X(X'(t), X(s) )dt- (Z'(t), Z'(s) )dt;

This content downloaded from 206.212.0.156 on Tue, 20 Aug 2013 07:39:01 AM

Proof. Let f(s) equal D2(s). We showthat f is non-decreasing.Let

Since both X and X' are absolutelycontinuousand the product of two

Since T(X'(s)) is orthogonalto both X'(s) and T(X"(s)), it followsthat

(20) f'(s) 2 (X(s) -X(0) - RTX'(0), X'(s) - RTX" (s) )

multipleof X'(s), say, -T(X"(s)) =- k(s)X'(s). Therefore

(22) ft'(s)= (1+Rk(s))(X(s)--X(0)-RTY'(O),X(s))

We easily concludefrom (22), (23) and Proposition4 that f'(s) > 0

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It is of courseobviousthatthereis a propositionsimilarto Proposition6

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PROPOSITION 8. (See fig. 1.) Let d be the lengthof the smallerarc

to Z at B whichdoes not meet the interiorof Z. Suppose

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of type ALA definedfor O?_s < d, and sutpposeY(0)=u, Y'(O) U,

5. Anotherpreliminaryproposition. It is the purposeof this section

s is arc lengthforL. We will say that the linlesegmentleavesa curveX (s)

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existsa parameterizedstraightline segmentwhich leaves C(s) and arrives

PROPOSITION 11. Let X bea planarcurvewithaveragecurvatureevery-

Proof. It is convenientto assume that the plane 7r whichcontainsthe

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Case (2) is treatedsimilarly. We proceedto case (3). It is clear that