Reduction by Symmetry in Obstacle Avoidance Problems on Riemannian Manifolds

DOI10.1137/22M1517512arXiv2207.13574OpenAlexW4391145249WikidataQ129475980 ScholiaQ129475980MaRDI QIDQ6202885FDOQ6202885

Jacob Goodman, Leonardo Colombo

Publication date: 27 February 2024

Published in: SIAM Journal on Applied Algebra and Geometry (Search for Journal in Brave)

Abstract: This paper studies the reduction by symmetry of a variational obstacle avoidance problem. We derive the reduced necessary conditions in the case of Lie groups endowed with a left-invariant metric, and for its corresponding Riemannian homogeneous spaces by considering an alternative variational problem written in terms of a connection on the horizontal bundle of the Lie group. A number of special cases where the obstacle avoidance potential can be computed explicitly are studied in detail, and these ideas are applied to the obstacle avoidance task for a rigid body evolving on SO$(3)$ and for the unit sphere $S^2$.

Full work available at URL: https://arxiv.org/abs/2207.13574

zbMATH Keywords

symmetry breakingpath planningRiemannian cubic polynomialsEuler-Poincaré reductionvariational obstacle avoidance

Mathematics Subject Classification ID

Analysis of algorithms and problem complexity (68Q25) Graph theory (including graph drawing) in computer science (68R10) Computer graphics; computational geometry (digital and algorithmic aspects) (68U05)

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Cited In (1)

• Reduction by symmetries of contact mechanical systems on Lie groups

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