论文标题
圆圈上的无碰撞运动计划
Collision free motion planning on a wedge of circles
论文作者
论文摘要
我们展示了一种带有连续说明的算法，该算法对于两个机器人而无需在轨道上移动的机器人，形状为三个圆圈的楔形。我们表明，与此问题关联的配置空间的拓扑复杂性是3。拓扑复杂性是同质的不变性，可以被认为是描述任何初始配置与任何最终配置之间在没有碰撞的任何最终配置之间移动所需的最小连续指令数量。从某种意义上说，提出的算法是最佳的，因为它完全需要3个连续的说明。
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.
