相关论文: Topological complexity of motion planning
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…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
In this paper, we introduce the n-th discrete topological complexity and study its properties such as its relation with simplicial Lusternik-Schnirelmann category and how the higher dimensions of discrete topological complexity relate with…
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…
In traditional topology optimization, the computing time required to iteratively update the material distribution within a design domain strongly depends on the complexity or size of the problem, limiting its application in real engineering…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
We define the topological complexity sequence of a group as the sequence of topological complexities of its Milnor constructions. This sequence may be regarded as an intrinsic refinement of the topological complexity of a group and, unlike…
The higher topological complexity of a space $X$, $\text{TC}_r(X)$, $r=2,3,\ldots$, and the topological complexity of a map $f$, $\text{TC}(f)$, have been introduced by Rudyak and Pave\v{s}i\'{c}, respectively, as natural extensions of…
We study the problem of motion planning for a collection of $n$ labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their start and final positions: that each start and each final is…
In this article a topology optimization method is developed, which is aware of material uncertainties. The uncertainties are handled in a worst-case sense, i.e. the worst possible material distribution over a given uncertainty set is taken…
How hard is it to program $n$ robots to move about a long narrow aisle such that only $w$ of them can fit across the width of the aisle? In this paper, we answer that question by calculating the topological complexity of $\text{conf}(n,w)$,…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
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…
We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is…
In robotics, a topological theory of motion planning was initiated by M. Farber. The multitasking motion planning problem is new and its theoretical part via topological complexity has hardly been developed, but the concrete implementations…
We study the smallest possible number of points in a topological space having k open sets. Equivalently, this is the smallest possible number of elements in a poset having k order ideals. Using efficient algorithms for constructing a…
We study the $k$-center problem in a kinetic setting: given a set of continuously moving points $P$ in the plane, determine a set of $k$ (moving) disks that cover $P$ at every time step, such that the disks are as small as possible at any…
The study of topological information of spatial objects has for a long time been a focus of research in disciplines like computational geometry, spatial reasoning, cognitive science, and robotics. While the majority of these researches…