Homotopy type of spaces of curves with constrained curvature on flat surfaces

Let $S$ be a complete flat surface, such as the Euclidean plane. We determine the homeomorphism class of the space of all curves on $S$ which start and end at given points in given directions and whose curvatures are constrained to lie in a given open interval, in terms of all parameters involved. Any connected component of such a space is either contractible or homotopy equivalent to an $n$-sphere, and every $n\geq 1$ is realizable. Explicit homotopy equivalences between the components and the corresponding spheres are constructed.Comment: 39 pages, 13 figures. Differs from previous version by many improvements of the expositio