Abstract
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.
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Acknowledgement
The work presented in this paper was done in the Q-Rock project funded by the Federal Ministry of Education and Research Germany (FKZ 01IW18003).
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Wiebe, F., Kumar, S., Harnack, D., Langosz, M., Wöhrle, H., Kirchner, F. (2022). Combinatorics of a Discrete Trajectory Space for Robot Motion Planning. In: Holderbaum, W., Selig, J.M. (eds) 2nd IMA Conference on Mathematics of Robotics. IMA 2020. Springer Proceedings in Advanced Robotics, vol 21. Springer, Cham. https://doi.org/10.1007/978-3-030-91352-6_6
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DOI: https://doi.org/10.1007/978-3-030-91352-6_6
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