相关论文: Collision Free Motion Planning on Graphs
We present optimal motion planning algorithms which can be used in designing practical systems controlling objects moving in Euclidean space without collisions. Our algorithms are optimal in a very concrete sense, namely, they have the…
In this paper we combine a survey of the most important topological properties of kinematic maps that appear in robotics, with the exposition of some basic results regarding the topological complexity of a map. In particular, we discuss…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
In this paper we study the topological invariant ${\sf {TC}}(X)$ reflecting the complexity of algorithms for autonomous robot motion. Here, $X$ stands for the configuration space of a system and ${\sf {TC}}(X)$ is, roughly, the minimal…
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…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
In this paper we study symmetric motion planning algorithms, i.e. such that the motion from one state A to another B, prescribed by the algorithm, is the time reverse of the motion from B to A. We experiment with several different notions…
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…
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…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
In this paper, we transfer the problem of measuring navigational complexity in topological spaces to the nearness theory. We investigate the most important component of this problem, the topological complexity number (denoted by TC), with…
In this paper we generalize the discrete r-homotopy to the discrete (s, r)-homotopy. Then by this notion, we introduce the discrete motion planning for robots which can move discreetly. Moreover, in this case the number of motion planning,…
We establish sharp upper bounds for the topological complexity of motion planning problem in spaces with small fundamental group, i.e. when it is finite of small order or has small cohomological dimension.
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time…
Farber and Rudyak introduced topological complexity $\mathbf{TC}(X)$ of motion planning and its higher analogs $\mathbf{TC}_n(X)$ to measure the complexity of assigning paths to point tuples. Motivated by motion planning where a robotic…