Safe Cooperative Robot Dynamics on Graphs

DOI10.1137/S0363012900368442MaRDI QIDQ4537801zbMATH OpenOpenAlexFDO

Authors D. E. Koditschek, Robert Ghrist

Publication date 23 June 2002

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1137/s0363012900368442

zbMATH Keywords

\(Y\)-networkautomated guided vehiclesconfiguration spacesdesignevent-driven state feedbackgraph networkhierarchical controlmobile robotsplanar graphssafe cooperative robotschedules

Mathematics Subject Classification ID

Applications of graph theory (05C90) Artificial intelligence for robotics (68T40) Reliability, availability, maintenance, inspection in operations research (90B25) Hierarchical systems (93A13) Discrete event control/observation systems (93C65) Automated systems (robots, etc.) in control theory (93C85) Applications of graph theory to circuits and networks (94C15)

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Cited in

(15)

• Topology of configuration space of two particles on a graph. I.
• On the minimum-time control problem for differential drive robots with bearing constraints
• The geometry and topology of reconfiguration
• Discrete Morse theory and graph braid groups.
• Topology and motion planning algorithms in robotics
• Invariants for homology classes with application to optimal search and planning problem in robotics
• Topological complexity of classical configuration spaces and related objects
• Configuration spaces of thick particles on a metric graph
• Topology of configuration space of two particles on a graph. II.
• Guiding vector fields for robot motion control. With a foreword by Bruno Siciliano
• On 2-cycles of graphs
• A motion planning algorithm in a figure eight track
• Configuration spaces on a wedge of spheres and Hochschild-Pirashvili homology
• Farber's conjecture and beyond
• An algorithmic discrete gradient field and the cohomology algebra of configuration spaces of two points on complete graphs

Describes a project that uses

Uses Software

• Chom

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