相关论文: Topological robotics: motion planning in projectiv…

We study an extensive class of movement minimization problems which arise from many practical scenarios but so far have little theoretical study. In general, these problems involve planning the coordinated motion of a collection of agents…

The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning…

We study the parameterized complexity of a variant of the classic video game Snake that models real-world problems of motion planning. Given a snake-like robot with an initial position and a final position in an environment (modeled by a…

We prove that the topological complexity of (a motion planning algorithm on) the complement of generic complex essential hyperplane arrangement of $n$ hyperplanes in an $r$-dimensional linear space is min$\{n+1,2r\}$.

The interaction topology is critical for efficient cooperation of mobile robotic networks (MRNs). We focus on the local topology inference problem of MRNs under formation control, where an inference robot with limited observation range can…

In this short note we observe that the higher topological complexity of an iterated connected sum of real projective spaces is maximal possible. Unlike the case of regular TC, the result is accessible through easy mod 2 zero-divisor…

In Coordinated Motion Planning (CMP), we are given a rectangular-grid on which $k$ robots occupy $k$ distinct starting gridpoints and need to reach $k$ distinct destination gridpoints. In each time step, any robot may move to a neighboring…

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…

In this paper we investigate the computational power of a set of mobile robots with limited visibility. At each iteration, a robot takes a snapshot of its surroundings, uses the snapshot to compute a destination point, and it moves toward…

This is a continuation of our recent paper in which we developed the theory of sequential parametrized motion planning. A sequential parametrized motion planning algorithm produced a motion of the system which is required to visit a…

Truss robots are highly redundant parallel robotic systems that can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robots. As self-reconfigurable modular robots, a VTT is composed of many…

Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…

Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…

In this paper, we develop the theory of constrained motion spaces of robotic arms. We compute their homology groups in two cases: when the constraint is a horizontal line and when it is a smooth curve whose motion space is a smooth…

When a group acts on a set, it naturally partitions it into orbits, giving rise to orbit problems. These are natural algorithmic problems, as symmetries are central in numerous questions and structures in physics, mathematics, computer…

Dense prediction tasks such as depth perception and semantic segmentation are important applications in computer vision that have a concrete topological description in terms of partitioning an image into connected components or estimating a…

We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…

Computational topology is an area that revisits topological problems from an algorithmic point of view, and develops topological tools for improved algorithms. We survey results in computational topology that are concerned with graphs drawn…

We study the topological dynamics by iterations of a piecewise continuous, non linear and locally contractive map in a real finite dimensional compact ball. We consider those maps satisfying the "separation property": different continuity…

We introduce a variant of Farber's topological complexity, defined for smooth compact orientable Riemannian manifolds, which takes into account only motion planners with the lowest possible "average length" of the output paths. We prove…