The configuration space of a robotic arm in a tunnel

DOI10.1137/16M1089411MaRDI QIDQ4596828zbMATH OpenOpenAlexFDO

Authors Federico Ardila, Hanner Bastidas, Cesar Ceballos, John Guo

Publication date 11 December 2017

Published in SIAM Journal on Discrete Mathematics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1608.04800

zbMATH Keywords

lattice pathCAT(0)motion planningtableaudistributive latticecubical complexrobotposet with inconsistent pairs

Mathematics Subject Classification ID

Combinatorics in computer science (68R05) Kinematics of mechanisms and robots (70B15) Geometric group theory (20F65) Artificial intelligence for robotics (68T40) Discriminantal varieties and configuration spaces in algebraic topology (55R80)

Abstract: We study the motion of a robotic arm inside a rectangular tunnel. We prove that the configuration space of all possible positions of the robot is a CAT(0) cubical complex. This allows us to use techniques from geometric group theory to find the optimal way of moving the arm from one position to another. We also compute the diameter of the configuration space, that is, the longest distance between two positions of the robot.

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Cites work

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• Geodesics in CAT(0) cubical complexes
• Moving robots efficiently using the combinatorics of CAT(0) cubical complexes
• Rings of sets
• The configuration space of a robotic arm in a tunnel
• The geometry and topology of reconfiguration
• The geometry of cube complexes and the complexity of their fundamental groups

Cited in

(7)

• Moving robots efficiently using the combinatorics of CAT(0) cubical complexes
• Old and new challenges in Hadamard spaces
• The configuration space of a robotic arm over a graph
• The configuration space of a robotic arm in a tunnel
• The configuration space of a robotic arm in a tunnel of width 2
• Towards control, learning and intelligence in reconfigurable systems
• The combinatorics of \(\mathrm{CAT}(0)\) cubical complexes

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