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

Published online by Cambridge University Press:  13 March 2020

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
Corresponding

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.

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