Related papers: Motion planning in spaces with small fundamental g…
This study investigates the exact geometry of the configuration space in three-dimensional rotational motion planning. A parameterization of configuration space obstacles is derived for a given triangulated or ball-approximated scene with…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
Some basic notions and results in Topological Dynamics are extended to continuous groupoid actions in topological spaces. We focus mainly on recurrence properties. Besides results that are analogous to the classical case of group actions,…
We first study the higher version of the relative topological complexity by using the homotopic distance. We also introduced the generalized version of the relative topological complexity of a topological pair on both the Schwarz genus and…
In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem instances. Most variants do not sample uniformly at random, and…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…
We consider the unlabeled motion-planning problem of $m$ unit-disc robots moving in a simple polygonal workspace of $n$ edges. The goal is to find a motion plan that moves the robots to a given set of $m$ target positions. For the unlabeled…
Consider the configuration spaces of manifolds. We give a precise formula for the integral cohomological dimension (the degree of top non-trivial integral cohomology group) of unordered configuration spaces of manifolds with non-trivial…
The main objective of this paper is to introduce a new method for qualitative analysis of various designs of robot arms. To this end we define the complexity of a map, examine its main properties and develop some methods of computation. In…
We show how to use topological ideas, such as compactness, to establish orderability properties of infinite groups. A new application is to provide a left-ordering for the group of PL homeomorphisms of a connected surface with boundary…
In this paper we present a new semidefinite programming hierarchy for covering problems in compact metric spaces. Over the last years, these kind of hierarchies were developed primarily for geometric packing and for energy minimization…
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions…
We organize fundamental properties of quasi-Hamiltonian spaces on which a finite group acts, and we apply them to the theory of moduli spaces of flat connections on an oriented compact surface with boundary.
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…
A novel topological and computational method for 'motion' is described. Motion is constrained by inequalities in terms of Kolmogorov Complexity. Causality is obtained as the output of a high-pass filter, passing through only high values of…
Lattice-based planning techniques simplify the motion planning problem for autonomous vehicles by limiting available motions to a pre-computed set of primitives. These primitives are then combined online to generate more complex maneuvers.…
We compute the topological complexity of Eilenberg-Mac Lane spaces associated to the group of automorphisms of a finitely generated free group which act by conjugation on a given basis, and to certain subgroups.
Higher-dimensional orthogonal packing problems have a wide range of practical applications, including packing, cutting, and scheduling. In the context of a branch-and-bound framework for solving these packing problems to optimality, it is…