function [curvature] = UkSeek(k, n, coords, targetx, targety, w)
%UNTITLED2 Summary of this function goes here
%   Detailed explanation goes here
    gamma = 50;
    
    xk = coords(k, 1);
    yk = coords(k, 2);
    thetak = coords(k, 3);
    curvature = 0;
%     for i = 1:n
%        if i == k
%        else
%            xj = coords(i, 1);
%            yj = coords(i, 2);
%            rlength = sqrt((xj-xk)^2 + (yj-yk)^2);
%            curvature = curvature + C(rlength, 0, w)*UjkSeek(xj, yj, xk, yk, thetak);
%        end
%     end
    curvature = curvature + gamma*UjkSeek(targetx, targety, xk, yk, thetak);
end