Combinatorics of a Discrete Trajectory Space for Robot Motion Planning
Robotics
2020-05-26 v1 Artificial Intelligence
Computational Complexity
Discrete Mathematics
Abstract
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the configuration space is modeled as a continuous space, we present a discrete robot model based on the fundamental hardware specifications of a robot. Using lattice path methods, we provide estimates for the complexity of motion planning by counting the number of possible trajectories in a discrete robot configuration space.
Cite
@article{arxiv.2005.12064,
title = {Combinatorics of a Discrete Trajectory Space for Robot Motion Planning},
author = {Felix Wiebe and Shivesh Kumar and Daniel Harnack and Malte Langosz and Hendrik Wöhrle and Frank Kirchner},
journal= {arXiv preprint arXiv:2005.12064},
year = {2020}
}
Comments
8 pages, 3 figures, to be published in the proceedings of 2nd IMA Conference on Mathematics of Robotics 2021