Topological characterization of safe coordinated vehicle motions Metadata

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Title

  • Main Title Topological characterization of safe coordinated vehicle motions

Creator

  • Author: JAMES, MILGRAM.R.
    Creator Type: Personal
  • Author: KAUFMAN,STEPHEN G.
    Creator Type: Personal

Contributor

  • Sponsor: United States. Department of Energy.
    Contributor Type: Organization
    Contributor Info: US Department of Energy (United States)

Publisher

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

Date

  • Creation: 2000-04-03

Language

  • English

Description

  • Content 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.

Subject

  • Keyword: Trajectories
  • Keyword: Robots
  • Keyword: Automation
  • STI Subject Categories: 32 Energy Conservation, Consumption, And Utilization
  • Keyword: Motion
  • Keyword: Control Systems
  • Keyword: Topology

Source

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

Collection

  • Name: Office of Scientific & Technical Information Technical Reports
    Code: OSTI

Institution

  • Name: UNT Libraries Government Documents Department
    Code: UNTGD

Resource Type

  • Article

Format

  • Text

Identifier

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

Note

  • Display Note: OSTI as DE00753447
  • Display Note: Medium: P; Size: 7 pages
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