Visualizing Local Minima in Multi-robot Motion Planning Using Multilevel Morse Theory

DOI10.1007/978-3-030-66723-8_30zbMath1469.68131arXiv2002.04385OpenAlexW3162628365MaRDI QIDQ3382002

Marc Toussaint, Andreas Orthey

Publication date: 20 September 2021

Published in: Algorithmic Foundations of Robotics XIV (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2002.04385

zbMATH Keywords

Morse theoryfiber bundlesmulti-robot motion planningvisualization of local minima

Mathematics Subject Classification ID

Problem solving in the context of artificial intelligence (heuristics, search strategies, etc.) (68T20) Topology of vector bundles and fiber bundles (57R22) Artificial intelligence for robotics (68T40) Discrete Morse theory and related ideas in manifold topology (57Q70)

Uses Software

• OMPL

Cites Work

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• On the topology of algorithms. I
• On multiple moving objects
• Path homotopy invariants and their application to optimal trajectory planning
• Subdimensional expansion for multirobot path planning
• Theory of braids
• Planning Algorithms