Sequential collision-free optimal motion planning algorithms in punctured Euclidean spaces

DOI10.1017/S0004972720000167MaRDI QIDQ5138965zbMATH OpenWikidataFDO

Authors

Publication date 4 December 2020

Published in Bulletin of the Australian Mathematical Society (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1912.04741

zbMATH Keywords

configuration spaceshigher motion planning algorithmspunctured Euclidean spacesroboticstopological complexity

Mathematics Subject Classification ID

Lyusternik-Shnirel'man category of a space, topological complexity à la Farber, topological robotics (topological aspects) (55M30) Homotopy equivalences in algebraic topology (55P10) Discriminantal varieties and configuration spaces in algebraic topology (55R80) Artificial intelligence for robotics (68T40)

Abstract: In robotics, a topological theory of motion planning was initiated by M. Farber. The multitasking motion planning problem is new and its theoretical part via topological complexity has hardly been developed, but the concrete implementations are still non-existent, and in fact this work takes the first step in this last direction (producing explicit algorithms.) We present optimal motion planning algorithms which can be used in designing practical systems controlling objects moving in Euclidean space without collisions between them and avoiding obstacles. Furthermore, we present the multitasking version of the algorithms.

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Cites work

• Configuration spaces and robot motion planning algorithms
• Configuration Spaces.
• Higher topological complexity and its symmetrization
• Lectures on algebraic topology.
• Multitasking collision-free optimal motion planning algorithms in Euclidean spaces
• On higher analogs of topological complexity
• Planning Algorithms
• Sequential motion planning of non-colliding particles in Euclidean spaces
• Topological complexity of motion planning

Cited in

(6)

• On the union of Jordan regions and collision-free translational motion amidst polygonal obstacles
• Sequential motion planning of non-colliding particles in Euclidean spaces
• A topological setting for obstacle collision free motions
• Multitasking collision-free optimal motion planning algorithms in Euclidean spaces
• Motion planning algorithms for configuration spaces in the higher dimensional case
• Collision-free motion planning algorithm in a Y-graph

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