A Motion Planning Algorithm in a Figure Eight Track

  • Cristian Jardon Wilbur Wright College
  • Brian Sheppard Harold Washington College
  • Veet Zaveri Wilbur Wright College
Keywords: topological robotics; motion planning; topological complexity


We design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion planning algorithms to topological features of configuration spaces. The topological complexity of a configuration space is an invariant that measures the complexity of motion planning algorithms. We show that the topological complexity of our problem is 3 and construct an explicit algorithm with three continuous instructions

How to Cite
Jardon, C., Sheppard, B., & Zaveri, V. (2023). A Motion Planning Algorithm in a Figure Eight Track. The PUMP Journal of Undergraduate Research, 6, 224-249. https://doi.org/10.46787/pump.v6i0.3559