打孔欧几里得空间中的顺序无碰撞最优运动规划算法
Sequential collision-free optimal motion planning algorithms in punctured Euclidean spaces
摘要：
在机器人学中，运动规划的拓扑理论是由M。法伯多任务运动规划问题是新的，其理论部分通过拓扑复杂性几乎没有发展，但具体的实现仍然不存在，实际上这项工作在最后一个方向上迈出了第一步（产生显式算法）。我们提出的最佳运动规划算法，可用于设计实际系统，控制对象在欧几里得空间移动，它们之间没有碰撞，避免障碍物。此外，我们提出了多任务版本的算法。
英文摘要：
In robotics, a topological theory of motion planning was initiated by M. Farber. The multitasking motion planning problem is new and its theoretical part via topological complexity has hardly been developed, but the concrete implementations are still non-existent, and in fact this work takes the first step in this last direction (producing explicit algorithms.) We present optimal motion planning algorithms which can be used in designing practical systems controlling objects moving in Euclidean space without collisions between them and avoiding obstacles. Furthermore, we present the multitasking version of the algorithms.
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