Path homotopy invariants and their application to optimal trajectory planning

• Published in: Annals of mathematics and artificial intelligence Vol. 84; no. 3-4; pp. 139 - 160
• Main Authors: Bhattacharya, Subhrajit, Ghrist, Robert
• Format: Journal Article
• Language: English
• Published: Cham Springer International Publishing 01.12.2018; Springer; Springer Nature B.V
• Subjects: Algorithms; Artificial Intelligence; Automation; Complex Systems; Computer Science; Configuration space path planning; Coordination; Euclidean geometry; Graph representations; Mathematics; Robotics; Robots; Trajectory optimization; Trajectory planning; Mathematical robotics; 55-04; 90C35; 55Q99; Path homotopy invariants; Graph search; Topological path planning; Knot and link complements; Coordination spaces
• ISSN: 1012-2443; 1573-7470
• DOI: 10.1007/s10472-018-9596-8

We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on subsets of the Euclidean plane in the robotics literature. Th...