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 |
| _version_ | 1797270234316406784 |
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| author | Federico Ardila Hanner Bastidas Cesar Ceballos John Guo |
| author_facet | Federico Ardila Hanner Bastidas Cesar Ceballos John Guo |
| author_sort | Federico Ardila |
| collection | DOAJ |
| description | 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 us to move the arm optimally from one position to another. |
| first_indexed | 2024-04-25T02:01:02Z |
| format | Article |
| id | doaj.art-c248db05377b47119712e68dc06da9c9 |
| institution | Directory Open Access Journal |
| issn | 1365-8050 |
| language | English |
| last_indexed | 2024-04-25T02:01:02Z |
| publishDate | 2020-04-01 |
| publisher | Discrete Mathematics & Theoretical Computer Science |
| record_format | Article |
| series | Discrete Mathematics & Theoretical Computer Science |
| spelling | doaj.art-c248db05377b47119712e68dc06da9c92024-03-07T14:55:20ZengDiscrete Mathematics & Theoretical Computer ScienceDiscrete Mathematics & Theoretical Computer Science1365-80502020-04-01DMTCS Proceedings, 28th...10.46298/dmtcs.64026402The configuration space of a robotic arm in a tunnel of width 2Federico Ardila0Hanner Bastidas1Cesar Ceballos2John Guo3Department of Mathematics [San Francisco]Universidad del Valle [Cali]Faculty of Mathematics [Vienna]Department of Mathematics [San Francisco]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 us to move the arm optimally from one position to another.https://dmtcs.episciences.org/6402/pdf[math.math-co]mathematics [math]/combinatorics [math.co] |
| spellingShingle | Federico Ardila Hanner Bastidas Cesar Ceballos John Guo The configuration space of a robotic arm in a tunnel of width 2 Discrete Mathematics & Theoretical Computer Science [math.math-co]mathematics [math]/combinatorics [math.co] |
| title | The configuration space of a robotic arm in a tunnel of width 2 |
| title_full | The configuration space of a robotic arm in a tunnel of width 2 |
| title_fullStr | The configuration space of a robotic arm in a tunnel of width 2 |
| title_full_unstemmed | The configuration space of a robotic arm in a tunnel of width 2 |
| title_short | The configuration space of a robotic arm in a tunnel of width 2 |
| title_sort | configuration space of a robotic arm in a tunnel of width 2 |
| topic | [math.math-co]mathematics [math]/combinatorics [math.co] |
| url | https://dmtcs.episciences.org/6402/pdf |
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