Publications
planning:AURO:12
Summary
Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Topological Constraints in Search-based Robot Path Planning", Autonomous Robots, 33(3):273-290, Springer Netherlands, October, 2012. DOI: 10.1007/s10514-012-9304-1.
[ PDF on Springer web-site | Supplementary videos on Springer web-site || Application to topological object separation | Related paper on Homotopy path planning | AMAI'13 paper with generalization to arbitrary dimension || Old Code for the 2D results appearing in the AAAI paper :: MATLAB code for uniformly discretized environment | MATLAB code for visibility graph | C++ code (planning with homotopy class constraints & homotopy class exploration with dynamic obstacles & non-Euclidean cost) || Newer implementations using the YAGSBPL library :: Bare-bones C++ implementation of homology/homotopy path planning in 2D (YAGSBPL 2.1 included) | Implementation of differential (N-1)-form for D-dimensional Euclidean spaces with obstacles (based on AMAI paper) and topological path planning in 3-dimensional space (YAGSBPL 2.0 included) ]
Bibtex entry
@ARTICLE { planning:AURO:12,
AUTHOR = { Subhrajit Bhattacharya and Maxim Likhachev and Vijay Kumar },
TITLE = { Topological Constraints in Search-based Robot Path Planning },
JOURNAL = { Autonomous Robots },
PUBLISHER = { Springer Netherlands },
ISSN = { 0929-5593 },
MONTH = { October },
VOLUME = { 33 },
NUMBER = { 3 },
YEAR = { 2012 },
PAGES = { 273-290 },
NOTE = { DOI: 10.1007/s10514-012-9304-1 },
KEY = { topological path planning, homotopy, homology, topology, path planning, graph search, robotics, journal }
}