離散軌道空間の組合せ論によるロボット動作計画
Combinatorics of a Discrete Trajectory Space for Robot Motion Planning
ロボットのハードウェア仕様に基づく離散モデルを提案し、格子経路法で軌道数を数えることで動作計画の複雑さを見積もった論文。
著者: Felix Wiebe, Shivesh Kumar, Daniel Harnack, Malte Langosz, Hendrik Wöhrle, Frank Kirchner
分類: cs.RO, cs.AI, cs.CC, cs.DM
原文アブストラクト
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the configuration space is modeled as a continuous space, we present a discrete robot model based on the fundamental hardware specifications of a robot. Using lattice path methods, we provide estimates for the complexity of motion planning by counting the number of possible trajectories in a discrete robot configuration space.
