Motion planning algorithms, topological properties and affine approximation

MaRDI QIDQ1653943zbMATH OpenFDO

Authors Younes Derfoufi, My Ismail Mamouni

Publication date 7 August 2018

Published in Bulletin of Computational Applied Mathematics (Search for Journal in Brave)

Full work available at URL http://drive.google.com/open?id=0B5GyVVQ6O030WHRTdVJtZmJfVm8

zbMATH Keywords

approximationmotion planning algorithmsregular spacestopological robotics

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Computer graphics; computational geometry (digital and algorithmic aspects) (68U05) Topological and differential topological methods for problems in mechanics (70G40)

Review text

Summary: The topological study of the so-called ``motion planning algorithms emerged in the 2003--2004 with the works of M. Farber. We focus here on the topological study of the set of these algorithms, when the configuration space is a normed vector space. We especially show that any motion planning algorithm in a compact sub-configuration space can be approximated by some piecewise affine ones.

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Cites work

• scientific article; zbMATH DE number 5190601 (Why is no real title available?)
• Instabilities of robot motion
• Topological complexity of motion planning

Cited in

(10)

• On the topological behaviour of motion planners
• STRING TOPOLOGICAL ROBOTICS
• scientific article; zbMATH DE number 2145101 (Why is no real title available?)
• scientific article; zbMATH DE number 822177 (Why is no real title available?)
• scientific article; zbMATH DE number 935096 (Why is no real title available?)
• A nonlinear Lazarev-Lieb theorem: \(L^2\)-orthogonality via motion planning
• MOTION PLANNING IN SPACES WITH SMALL FUNDAMENTAL GROUPS
• On complexity and motion planning for co-rank one sub-Riemannian metrics
• Motion planning in polyhedral products of groups and a Fadell-Husseini approach to topological complexity
• Motion planning for robots with topological dimension reduction method

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