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Topological constraints in search-based robot path planning
2012
Autonomous Robots
There are many applications in motion planning where it is important to consider and distinguish between different topological classes of trajectories. The two important, but related, topological concepts for classifying manifolds that are of importance to us are those of homotopy and homology. In this paper we consider the problem of robot exploration and planning in Euclidean configuration spaces with obstacles to (a) identify and represent different homology classes of trajectories; (b) plan
doi:10.1007/s10514-012-9304-1
fatcat:pshcd2mmpvhqndbaqoaap2z6qi