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SEQUENTIAL COLLISION-FREE OPTIMAL MOTION PLANNING ALGORITHMS IN PUNCTURED EUCLIDEAN SPACES

Part of: Artificial intelligence (68Txx) Homotopy theory Fiber spaces and bundles

Published online by Cambridge University Press:  13 March 2020

CESAR A. IPANAQUE ZAPATA Open the ORCID record for CESAR A. IPANAQUE ZAPATA [Opens in a new window]  and
JESÚS GONZÁLEZ Open the ORCID record for JESÚS GONZÁLEZ [Opens in a new window]
CESAR A. IPANAQUE ZAPATA*
Affiliation:
Departamento de Matemática,Universidade de São Paulo, Instituto de Ciências Matemáticas e Computação – USP, Avenida Trabalhador São-carlense, 400 – Centro CEP: 13566-590 – São Carlos – SP, Brazil email cesarzapata@usp.br
JESÚS GONZÁLEZ
Affiliation:
Departamento de Matemáticas, Centro de Investigación y de Estudios Avanzados del IPN,Av. Instituto Politécnico Nacional 2508, San Pedro Zacatenco, Mexico City07000, México email jesus@math.cinvestav.mx
*
✉cesarzapata@usp.br
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Abstract

In robotics, a topological theory of motion planning was initiated by M. Farber. We present optimal motion planning algorithms which can be used in designing practical systems controlling objects moving in Euclidean space without collisions between them and avoiding obstacles. Furthermore, we present the multi-tasking version of the algorithms.

Keywords

configuration spacespunctured Euclidean spacesroboticstopological complexityhigher motion planning algorithms

MSC classification

Primary: 55R80: Discriminantal varieties, configuration spaces
Secondary: 55P10: Homotopy equivalences 68T40: Robotics
Type
Research Article
Information
Bulletin of the Australian Mathematical Society , Volume 102 , Issue 3 , December 2020 , pp. 506 - 516
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Copyright
© 2020 Australian Mathematical Publishing Association Inc.

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Footnotes

The first author would like to thank São Paulo Research Foundation (FAPESP), Grant No. 2018/23678-6, for financial support.

References

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