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arXiv · 2403.05570

A Motion Planning Algorithm in a Figure Eight Track

Cristian Jardon·Brian Sheppard·Veet Zaveri
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Abstract

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.

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Cristian Jardon, Brian Sheppard, Veet Zaveri. 2024-02-22. A Motion Planning Algorithm in a Figure Eight Track. https://arxiv.org/abs/2403.05570

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