Some geometric and topological data-driven methods in robot motion path planning

DOI10.4171/ESIAM/4/3MaRDI QIDQ6641602zbMATH OpenFDO

Authors Boris Goldfarb

Publication date 21 November 2024

Full work available at URL https://doi.org/10.4171/ESIAM/4/3

zbMATH Keywords

data-driven methodsdiscrete Morese theory in applicationsgeomteric methodsrobot motion path planningtopological methods

Mathematics Subject Classification ID

Discrete Morse theory and related ideas in manifold topology (57Q70) Artificial intelligence for robotics (68T40) Computer graphics; computational geometry (digital and algorithmic aspects) (68U05) Distributed algorithms (68W15)

Review text

As the title suggests, this is an overview of geometric and topological methods in robot motion path planning. It appears to be an accessible survey that might be of interest to people interested in entering the field. The article focuses more on general ideas and provides plenty of references for further reading. After an introduction to the general concept of motion planning, Section 2 consists of a short survey on topological complexity, artificial potential vector fields, and some concepts from topological data analysis, in particular persistent homology. In Section 3, preliminaries on discrete Morse theory are introduced, a short survey on the comparison with smooth Morse theory is presented, and advantages of data-driven applications of discrete Morse theory are discussed. Section 4 is the main part of the chapter: an overview of three general methods in motion planning, namely skeletonization, density-based modeling, and parallelized and distributed planning. As part of these overviews, it is also mentioned to what extent discrete Morse theory has been applied to the respective methods. The chapter concludes with Section 5, which presents and discusses a collection of typical problems in motion planning.\N\NFor the entire collection see [Zbl 1547.55002].

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Cited in

(1)

• Geometric and topological properties of manifolds in robot motion planning

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