Sequential motion planning of non-colliding particles in Euclidean spaces
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configuration spaceshigher topological complexitymoving obstaclesrobot motion planningsectional category
Lyusternik-Shnirel'man category of a space, topological complexity à la Farber, topological robotics (topological aspects) (55M30) Discriminantal varieties and configuration spaces in algebraic topology (55R80) Sectioning fiber spaces and bundles in algebraic topology (55S40) Artificial intelligence for robotics (68T40)
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.
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