A Motion Planning Algorithm in a Figure Eight Track
Abstract
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 planning algorithms to topological features of configuration spaces. The topological complexity of a configuration space is an invariant that measures the complexity of motion planning algorithms. We show that the topological complexity of our problem is 3 and construct an explicit algorithm with three continuous instructions.
Cite
@article{arxiv.2403.05570,
title = {A Motion Planning Algorithm in a Figure Eight Track},
author = {Cristian Jardon and Brian Sheppard and Veet Zaveri},
journal= {arXiv preprint arXiv:2403.05570},
year = {2024}
}
Comments
25 pages, 45 figures, First published in PUMP Journal of Undergraduate Research. This research paper was completed under the supervision of Prof. Hellen Colman at Wilbur Wright College