COMPUTING BRAID GROUPS OF GRAPHS WITH APPLICATIONS TO ROBOT MOTION PLANNING

被引：7

作者：

Kurlin, Vitaliy ^{[1
]}

机构：

[1] Univ Durham, Dept Math Sci, Durham DH1 3LE, England

来源：

HOMOLOGY HOMOTOPY AND APPLICATIONS | 2012年 / 14卷 / 01期

关键词：

graph; braid group; configuration space; fundamental group; homotopy type; deformation retraction; collision free motion; planning algorithm; complexity; robotics; MORSE-THEORY;

D O I：

10.4310/HHA.2012.v14.n1.a8

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

An algorithm is designed to write down presentations of graph braid groups. Generators are represented in terms of actual motions of robots moving without collisions on a given connected graph. A key ingredient is a new motion planning algorithm whose complexity is linear in the number of edges and is quadratic in the number of robots. The computing algorithm implies that 2-point braid groups of all light planar graphs have presentations where all relators are commutators.

引用

页码：159 / 180

页数：22

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