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This paper is about the allocation of tours of m targets to n vehicles. The motion of the vehicles satisfies a nonholonomic constraint (i.e., the yaw rate of the vehicle is bounded). Each target is to be visited by one and only one vehicle. Given a set of targets and the yaw rate constraints on the vehicles, the problem addressed in this paper is 1) to assign each vehicle a sequence of targets to visit, and 2) to find a feasible path for each vehicle that passes through the assigned targets with a requirement that the vehicle returns to its initial position. The heading angle at each target location may not be specified. The objective function is to minimize the sum of the distances traveled by all vehicles. A constant factor approximation algorithm is presented for the above resource allocation problem for both the single and the multiple vehicle case. Note to Practitioners-The motivation for this paper stems from the need to develop …