A Motion Planning Algorithm in a Figure Eight Track
<|reference_start|>A Motion Planning Algorithm in a Figure Eight Track: 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.<|reference_end|>
@article{jardon2024a,
    title={A Motion Planning Algorithm in a Figure Eight Track},
    author={Cristian Jardon, Brian Sheppard, Veet Zaveri},
    journal={The PUMP Journal of Undergraduate Research, 6, 224-249 (2023).
  Retrieved from https://journals.calstate.edu/pump/article/view/3559},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.05570},
    primaryClass={cs.RO math.GN}
}