運動計画arXiv:2403.05570
8の字トラックにおける運動計画アルゴリズム
A Motion Planning Algorithm in a Figure Eight Track
2台のロボットが8の字トラック上で衝突せずに動くための運動計画アルゴリズムを、位相的複雑性の観点から設計した研究。
著者: Cristian Jardon, Brian Sheppard, Veet Zaveri
分類: cs.RO, math.GN
原文アブストラクト
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.