Parametrized topological complexity of collision-free motion planning in the plane
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Publication:6351702
DOI10.1007/S10472-022-09801-6arXiv2010.09809MaRDI QIDQ6351702FDOQ6351702
Authors: Daniel C. Cohen, Michael Farber, Shmuel Weinberger 
Publication date: 19 October 2020
Abstract: Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying motion planning problem. In this paper, we analyze the parameterized motion planning problem for the motion of many distinct points in the plane, moving without collision and avoiding multiple distinct obstacles with a priori unknown positions. This complements our prior work [arXiv:2009.06023], where parameterized motion planning algorithms were introduced, and the obstacle-avoiding collision-free motion planning problem in three-dimensional space was fully investigated. The planar case requires different algebraic and topological tools than its spatial analog.
Control of mechanical systems (70Q05) Discriminantal varieties and configuration spaces in algebraic topology (55R80) Lyusternik-Shnirel'man category of a space, topological complexity à la Farber, topological robotics (topological aspects) (55M30) Sectioning fiber spaces and bundles in algebraic topology (55S40)
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