Topological characterization of safe coordinated vehicle motions

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This paper characterizes the homotopy properties and the global topology of the space of positions of vehicles which are constrained to travel without intersecting on a network of paths. The space is determined by the number of vehicles and the network. Paths in the space correspond to simultaneous non-intersecting motions of all vehicles. The authors therefore focus on computing the homotopy type of the space, and show how to do so in the general case. Understanding the homotopy type of the space is the central issue in controlling the vehicles, as it gives a complete description of the distinct ways ... continued below

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7 p.

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JAMES, MILGRAM.R. & KAUFMAN,STEPHEN G. April 3, 2000.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM, and Livermore, CA (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

This paper characterizes the homotopy properties and the global topology of the space of positions of vehicles which are constrained to travel without intersecting on a network of paths. The space is determined by the number of vehicles and the network. Paths in the space correspond to simultaneous non-intersecting motions of all vehicles. The authors therefore focus on computing the homotopy type of the space, and show how to do so in the general case. Understanding the homotopy type of the space is the central issue in controlling the vehicles, as it gives a complete description of the distinct ways that vehicles may move safely on the network. The authors exhibit graphs, products of graphs, and amalgamations of products of graphs that are homotopy equivalent to the full configuration space, and are far simpler than might be expected. The results indicate how a control system for such a network of vehicles (such as a fleet of automatically guided vehicles guided by wires buried in a factory floor) may be implemented.

Physical Description

7 p.

Notes

OSTI as DE00753447

Medium: P; Size: 7 pages

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  • International Conference on Robotics and Automation, San Francisco, CA (US), 04/24/2000--04/28/2000

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  • Report No.: SAND2000-0819C
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 753447
  • Archival Resource Key: ark:/67531/metadc711593

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  • April 3, 2000

Added to The UNT Digital Library

  • Sept. 12, 2015, 6:31 a.m.

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  • April 11, 2017, 3:36 p.m.

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JAMES, MILGRAM.R. & KAUFMAN,STEPHEN G. Topological characterization of safe coordinated vehicle motions, article, April 3, 2000; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc711593/: accessed December 10, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.