A Survey on Advances in the Theory of Computational Robotics

John H. Reif
Additional contact information
John H. Reif: Harvard University, Aiken Computation Laboratory Division of Applied Sciences

A chapter in Adaptive and Learning Systems, 1986, pp 331-337 from Springer

Abstract: Abstract This paper describes work on the computational complexity of various movement planning problems relevant to robotics. This paper is intended only as a survey of previous and current work in this area. The generalized mover’s problem is to plan a sequence of movements of linked polyhedra through 3-dimensional Euclidean space, avoiding contact with a fixed set of polyhedra obstacles. We discuss our and other researchers’ work showing generalized mover’s problems are polynomial space hard. These results provide strong evidence that robot movement planning is computationally intractable, i.e., any algorithm requires time growing exponentially with the number of degrees of freedom. We also briefly discuss the computational complexity of four other quite different types of movement problems: (1) movement planning in the presence of friction, (2) minimal movement planning, (3) dynamic movement planning with moving obstacles and (4) adaptive movement planning problems.

Keywords: Movement Planning; Polynomial Space; Robot Movement Planning; Cylindric Algebraic Decomposition; Polygonal Obstacle (search for similar items in EconPapers)
Date: 1986
References: Add references at CitEc
Citations:

There are no downloads for this item, see the EconPapers FAQ for hints about obtaining it.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-1-4757-1895-9_23

Ordering information: This item can be ordered from
http://www.springer.com/9781475718959

DOI: 10.1007/978-1-4757-1895-9_23

Access Statistics for this chapter

More chapters in Springer Books from Springer
Bibliographic data for series maintained by Sonal Shukla () and Springer Nature Abstracting and Indexing ().