This paper addresses the Dubins path planning problem for vehicles in 3D space. In particular, we consider the problem of computing CSC paths -- paths that consist of a circular arc (C) followed by a straight segment (S) followed by a circular arc (C). These paths are useful for vehicles such as fixed-wing aircraft and underwater submersibles that are subject to lower bounds on turn radius. We present a new parameterization that reduces the 3D CSC planning problem to a search over 2 variables, thus lowering search complexity, while also providing gradients that assist that search. We use these equations with a numerical solver to explore numbers and types of solutions computed for a variety of planar and 3D scenarios. Our method successfully computes CSC paths for the large majority of test cases, indicating that it could be useful for future generation of robust, efficient curvature-constrained trajectories.

We study a system consisting of $n$ particles, moving forward in jumps on the real line. Each particle can make both independent jumps, whose sizes have some distribution, or ``synchronization'' jumps, which allow it to join a randomly chosen other particle if the latter happens to be ahead of it. The mean-field asymptotic regime, where $n\to\infty$, is considered. As $n\to\infty$, we prove the convergence of the system dynamics to that of a deterministic mean-field limit (MFL). We obtain results on the average speed of advance of a ``benchmark'' MFL (BMFL) and the liminf of the steady-state speed of advance, in terms of MFLs that are traveling waves. For the special case of exponentially distributed independent jump sizes, we prove that a traveling wave MFL with speed $v$ exists if and only if $v\ge v_*$, with $v_*$ having simple explicit form; this allows us to show that the average speed of the BMFL is equal to $v_*$ and the liminf of the steady-state speeds is lower bounded by $v_*$. Finally, we put forward a conjecture that both the average speed of the BMFL and the exact limit of the steady-state speeds, under general distribution of an independent jump size, are equal to number $v_{**}$, which is easily found from a ``minimum speed principle.'' This general conjecture is consistent with our results for the exponentially distributed jumps and is confirmed by simulations.