Reduction by Symmetry in Obstacle Avoidance Problems on Riemannian Manifolds

DOI10.1137/22M1517512MaRDI QIDQ6202885zbMATH OpenOpenAlexWikidataFDO

Authors Jacob Goodman, Leonardo Colombo

Publication date 27 February 2024

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

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)

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 $S^2$.

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Cited in

(1)

• Reduction by symmetries of contact mechanical systems on Lie groups

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