経路計画arXiv:2010.05339
三つの円が接するトラック上の衝突回避ロボット経路計画
Collision free motion planning on a wedge of circles
3つの円が接する形状のトラック上で2台のロボットが衝突せずに移動するための連続指示アルゴリズムを提案し、その最適性を位相的複雑性3として証明した。
著者: Elif Sensoy
分類: cs.RO, math.AT
原文アブストラクト
We exhibit an algorithm with continuous instructions for two robots moving without collisions on a track shaped as a wedge of three circles. We show that the topological complexity of the configuration space associated with this problem is 3. The topological complexity is a homotopy invariant that can be thought of as the minimum number of continuous instructions required to describe the movement of the robots between any initial configuration to any final one without collisions. The algorithm presented is optimal in the sense that it requires exactly 3 continuous instructions.