A Motion Planning Algorithm in a Figure Eight Track
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866914717147070464 |
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| author | Jardon, Cristian Sheppard, Brian Zaveri, Veet |
| author_facet | Jardon, Cristian Sheppard, Brian Zaveri, Veet |
| contents | We design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion planning algorithms to topological features of configuration spaces. The topological complexity of a configuration space is an invariant that measures the complexity of motion planning algorithms. We show that the topological complexity of our problem is 3 and construct an explicit algorithm with three continuous instructions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_05570 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Motion Planning Algorithm in a Figure Eight Track Jardon, Cristian Sheppard, Brian Zaveri, Veet Robotics General Topology We design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion planning algorithms to topological features of configuration spaces. The topological complexity of a configuration space is an invariant that measures the complexity of motion planning algorithms. We show that the topological complexity of our problem is 3 and construct an explicit algorithm with three continuous instructions. |
| title | A Motion Planning Algorithm in a Figure Eight Track |
| topic | Robotics General Topology |
| url | https://arxiv.org/abs/2403.05570 |