“…The directional derivatives are then approximated using upwind finite differences as in (2.4) below, and the coupled system of equations resulting from the discretized PDE is solved in a single pass over the domain [65]. It would be too long to describe here the approximation procedure [63,65] yielding (2.3), which involves a relaxation parameter ε > 0 and techniques from algorithmic geometry. Nevertheless let us mention the meta parameters (I, J, K) used: Reeds-Shepp (1, 3, 1), Euler-Mumford (0, 27, 1), Dubins (0, 6, 2).…”