  We formulate a novel planar motion planning problem for a Dubins-Laser system
that consists of a Dubins vehicle with an attached controllable laser. The
vehicle moves with unit speed and the laser, having a finite range, can rotate
in a clockwise or anti-clockwise direction with a bounded angular rate. From an
arbitrary initial position and orientation, the objective is to steer the
system so that a given static target is within the range of the laser and the
laser is oriented at it in minimum time. We characterize multiple properties of
the optimal trajectory and establish that the optimal trajectory for the
Dubins-laser system is one out of a total of 16 candidates. Finally, we provide
numerical insights that illustrate the properties characterized in this work.
