Sequential motion planning of non-colliding particles in Euclidean spaces

DOI10.1090/PROC/12443zbMATH Open1325.55008arXiv1309.4346OpenAlexW1820844769MaRDI QIDQ2944802FDOQ2944802

Jesús González, Mark Grant

Publication date: 8 September 2015

Published in: Proceedings of the American Mathematical Society (Search for Journal in Brave)

Abstract: In terms of Rudyak's generalization of Farber's topological complexity of the path motion planning problem in robotics, we give a complete description of the topological instabilities in any sequential motion planning algorithm for a system consisting of non-colliding autonomous entities performing tasks in space whilst avoiding collisions with several moving obstacles. The Isotopy Extension Theorem from manifold topology implies, somewhat surprisingly, that the complexity of this problem coincides with the complexity of the corresponding problem in which the obstacles are stationary.

Full work available at URL: https://arxiv.org/abs/1309.4346

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zbMATH Keywords

configuration spacesmoving obstaclessectional categoryrobot motion planninghigher topological complexity

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Discriminantal varieties and configuration spaces in algebraic topology (55R80) Lyusternik-Shnirel'man category of a space, topological complexity à la Farber, topological robotics (topological aspects) (55M30) Sectioning fiber spaces and bundles in algebraic topology (55S40)

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Cited In (26)

• On topological complexity of twisted products
• A topological setting for obstacle collision free motions
• Oriented robot motion planning in Riemannian manifolds
• Higher topological complexity of aspherical spaces
• A lower bound for higher topological complexity of real projective space
• Topological complexity of \(n\) points on a tree
• The higher topological complexity of complement of fiber type arrangement
• Bidirectional sequential motion planning
• Topological complexity of subgroups of Artin’s braid groups
• An upper bound for higher topological complexity and higher strongly equivariant complexity
• Topological complexity of classical configuration spaces and related objects
• Sequential parametrized motion planning and its complexity. II
• Symmetrized topological complexity
• Sequential parametrized topological complexity of sphere bundles
• Multitasking collision-free optimal motion planning algorithms in Euclidean spaces
• SEQUENTIAL COLLISION-FREE OPTIMAL MOTION PLANNING ALGORITHMS IN PUNCTURED EUCLIDEAN SPACES
• Higher Topological Complexity of Artin Type Groups
• The topological complexity of the ordered configuration space of disks in a strip
• On Lusternik-Schnirelmann category and topological complexity of non-\(k\)-equal manifolds
• Motion planning algorithms for configuration spaces
• A note on covers defining relative and sectional categories
• CATEGORY AND TOPOLOGICAL COMPLEXITY OF THE CONFIGURATION SPACE
• Effective topological complexity of spaces with symmetries
• Simplicial and combinatorial versions of higher symmetric topological complexity
• Sequential parametrized motion planning and its complexity
• Topological complexity of collision-free multi-tasking motion planning on orientable surfaces

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