The Robotics Institute
Carnegie Mellon Robotics Institute
On the Topology of Plans
Michael Erdmann
Eighth International Workshop on the Algorithmic Foundations of Robotics, December, 2008.
| Abstract |
| This paper explores a topological perspective of planning. A series of examples and theorems establishes a fundamental coupling between tasks on graphs and simplicial complexes. Planning under uncertainty is one application. The paper introduces strategy and loopback complexes. The paper's main theorem shows that tasks specified by goal states in nondeterministic graphs have guaranteed solutions if and only if their loopback complexes are homotopic to spheres. |
| Notes |
| Text Reference |
| Michael Erdmann, "On the Topology of Plans," Eighth International Workshop on the Algorithmic Foundations of Robotics, December, 2008. |
| BibTeX Reference |
|
@inproceedings{Erdmann_2008_6820, author = "Michael Erdmann", title = "On the Topology of Plans", booktitle = "Eighth International Workshop on the Algorithmic Foundations of Robotics", month = "December", year = "2008", } |
| The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University. Contact Us | Update Instructions |