Safe Cooperative Robot Dynamics on Graphs

DOI10.1137/S0363012900368442MaRDI QIDQ4537801zbMATH OpenOpenAlexFDO

Authors D. E. Koditschek, Robert Ghrist

Publication date 23 June 2002

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1137/s0363012900368442

zbMATH Keywords

designconfiguration spacesplanar graphshierarchical controlmobile robotsautomated guided vehiclesschedulesgraph network\(Y\)-networkevent-driven state feedbacksafe cooperative robot

Mathematics Subject Classification ID

Applications of graph theory (05C90) Reliability, availability, maintenance, inspection in operations research (90B25) Artificial intelligence for robotics (68T40) Hierarchical systems (93A13) Discrete event control/observation systems (93C65) Automated systems (robots, etc.) in control theory (93C85) Applications of graph theory to circuits and networks (94C15)

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Cited in

(15)

• Guiding vector fields for robot motion control. With a foreword by Bruno Siciliano
• Topology and motion planning algorithms in robotics
• Configuration spaces of thick particles on a metric graph
• Topology of configuration space of two particles on a graph. II.
• Configuration spaces on a wedge of spheres and Hochschild-Pirashvili homology
• Farber's conjecture and beyond
• An algorithmic discrete gradient field and the cohomology algebra of configuration spaces of two points on complete graphs
• A motion planning algorithm in a figure eight track
• Invariants for homology classes with application to optimal search and planning problem in robotics
• On 2-cycles of graphs
• Topology of configuration space of two particles on a graph. I.
• On the minimum-time control problem for differential drive robots with bearing constraints
• The geometry and topology of reconfiguration
• Topological complexity of classical configuration spaces and related objects
• Discrete Morse theory and graph braid groups.

Describes a project that uses

Uses Software

• Chom

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