# Dubins Forward-Car Global Minimum Curve Solver

> Dubins Forward-Car Global Minimum Curve Solver is a paid API for AI agents from detect.halowerk.com, paid per call via x402, $0.003/call, status unknown (last checked 2026-11-04).

Computes the shortest forward-only bounded-curvature (Dubins) path between two 2D/3D poses given a minimum turn radius.

## Facts

- Endpoint: POST https://detect.halowerk.com/v1/F-TD2000-GEO-INDUSTRY-B006/dubins-forward-car-six-word-global-minimum-curve?utm_source=zero.xyz
- Price: $0.003/call
- Payment: x402
- Status: unknown
- Last checked: 2026-11-04
- Activations on Zero: 0
- Tags: x402
- Canonical page: https://www.zero.xyz/c/dubins-forward-car-global-minimum-curve-solver-c1bd7ea3
- Structured record (JSON): https://api.zero.xyz/v1/capabilities/cap_YSxGIQW3K5dF3vjvWMe9K

Status and success rate cover calls made through Zero and Zero's own probes. Third-party monitors may report differently.

## How to call it through Zero

Zero handles the 402 payment challenge and records the run. With the Zero CLI installed (`npm i -g @zeroxyz/cli`):

```sh
zero fetch --capability dubins-forward-car-global-minimum-curve-solver-c1bd7ea3 -d '<json body>'
```

Example prompt: Compute the shortest forward-only Dubins path from pose [0, 0, 0] to goal pose [10, 5, 1.57] with a minimum turn radius of 2.0 — give me the global minimum curve.

## When to prefer this

Use this endpoint when you need the mathematically proven globally shortest forward-only path for a car-like or UAV agent with a fixed minimum turning radius. Prefer it over general path planners when the non-holonomic constraint (forward motion only, bounded curvature) is fundamental — e.g., fixed-wing UAVs, car-like robots, or surface vehicles that cannot reverse.

## Known failure modes

- Turn radius below minimum threshold (0.001) returns validation error
- Start or goal coordinates outside allowed range [-10000, 10000] returns bounds error
- Missing required fields (start, goal, turn_radius) returns schema validation error
- Poses with identical position and heading may return a degenerate zero-length path
- Network or payment authorization failure returns 402 Payment Required

## How this service works

Compute the shortest forward-only bounded-curvature path for supplied poses.

## Output

Returns the globally optimal Dubins path: a sequence of curve segments (arcs and straight lines) representing the shortest forward-only trajectory between the start and goal poses that respects the given minimum turn radius, along with the total path length and segment details.

## Request schema (JSON Schema)

```json
{
 "type": "object",
 "properties": {
  "artifact": {
   "type": "object",
   "required": [
    "dubins"
   ],
   "properties": {
    "dubins": {
     "type": "object",
     "required": [
      "data",
      "claim"
     ],
     "properties": {
      "data": {
       "type": "object",
       "required": [
        "start",
        "goal",
        "turn_radius"
       ],
       "properties": {
        "goal": {
         "type": "array",
         "items": {
          "type": "number",
          "maximum": 10000,
          "minimum": -10000
         },
         "maxItems": 3,
         "minItems": 3
        },
        "start": {
         "type": "array",
         "items": {
          "type": "number",
          "maximum": 10000,
          "minimum": -10000
         },
         "maxItems": 3,
         "minItems": 3
        },
        "turn_radius": {
         "type": "number",
         "maximum": 1000,
         "minimum": 0.001
        }
       },
       "additionalProperties": false
      },
      "claim": {}
     },
     "additionalProperties": false
    }
   },
   "additionalProperties": false
  }
 }
}
```

## More

- Live health (JSON, refreshed every minute): https://www.zero.xyz/c/dubins-forward-car-global-minimum-curve-solver-c1bd7ea3/health.json
- [Zero catalog index](https://www.zero.xyz/llms.txt)
- [Other services from detect.halowerk.com](https://www.zero.xyz/host/detect.halowerk.com/llms.txt)