The configuration space of a robotic arm in a tunnel of width 2
We study the motion of a robotic arm inside a rectangular tunnel of width 2. We prove that the configuration space S of all possible positions of the robot is a CAT(0) cubical complex. Before this work, very few families of robots were known to have CAT(0) configuration spaces. This property allows...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Discrete Mathematics & Theoretical Computer Science
2020-04-01
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| Series: | Discrete Mathematics & Theoretical Computer Science |
| Subjects: | |
| Online Access: | https://dmtcs.episciences.org/6402/pdf |