Related papers: Two robots moving geodesically on a tree
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
We determine explicit formulas for geodesics (in the Euclidean metric) in the configuration space of ordered pairs (x,x') of points in R^n which satisfy d(x,x')>=epsilon. We interpret this as two or three (depending on the parity of n)…
In this paper we determine the topological complexity of configuration spaces of graphs which are not necessarily trees, which is a crucial assumption in previous results. We do this for two very different classes of graphs: fully…
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…
We define the notion of near geodesic between points of a metric space when no geodesic exists, and use this to extend Recio-Mitter's notion of geodesic complexity to non-geodesic spaces. This has potential application to topological…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
A topological theory initiated recently by the author uses methods of algebraic topology to estimate numerically the character of instabilities arising in motion planning algorithms. The present paper studies random motion planning…
We introduce the geodesic complexity of a metric space, inspired by the topological complexity of a topological space. Both of them are numerical invariants, but, while the TC only depends on the homotopy type, the GC is an invariant under…
The unordered configuration space of $n$ points on a graph $\Gamma,$ denoted here by $UC^n(\Gamma),$ can be viewed as the space of all configurations of $n$ unlabeled robots on a system of one-dimensional tracks, which is interpreted as a…
The topological (resp. geodesic) complexity of a topological (resp. metric) space is roughly the smallest number of continuous rules required to choose paths (resp. shortest paths) between any points of the space. We prove that the geodesic…
We study the topological complexity of work maps with respect to some subspaces of the configuration space and a workspace considered as the target set of the motion of robots. The motivation is to optimize and reduce the number of motion…
In this paper we study a notion of topological complexity for the motion planning problem. The topological complexity is a number which measures discontinuity of the process of motion planning in the configuration space X. More precisely,…
Using the ordered analogue of Farley-Sabalka's discrete gradient field on the configuration space of a graph, we unravel a levelwise behavior of the generators of the pure braid group on a tree. This allows us to generalize Farber's…
We introduce the topological complexity of the work map associated to a robot system. In broad terms, this measures the complexity of any algorithm controlling, not just the motion of the configuration space of the given system, but the…
Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…
Consider all geodesics between two given points on a polyhedron. On the regular tetrahedron, we describe all the geodesics from a vertex to a point, which could be another vertex. Using the Stern--Brocot tree to explore the recursive…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
Many discrete optimization problems amount to selecting a feasible set of edges of least weight. We consider in this paper the context of spatial graphs where the positions of the vertices are uncertain and belong to known uncertainty sets.…
The topological complexity TC(X) is a numerical homotopy invariant of a topological space X which is motivated by robotics and is similar in spirit to the classical Lusternik-Schnirelmann category of X. Given a mechanical system with…