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Doctoral Thesis
DOI
https://doi.org/10.11606/T.55.2022.tde-23052022-194647
Document
Author
Full name
Cesar Augusto Ipanaque Zapata
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Carlos, 2022
Supervisor
Committee
Mattos, Denise de (President)
Libardi, Alice Kimie Miwa
Melo, Thiago de
Pergher, Pedro Luiz Queiroz
Title in Portuguese
Espaços de configurações no problema de planificação de movimento simultâneo livre de colisões
Keywords in Portuguese
(Co)Homologia
Espaços de configurações
Fibrados
Homotopia, Robótica topológica
Abstract in Portuguese
O objetivo principal deste trabalho será apresentar um estudo topológico do Problema de Planejamento de Movimento de Robôs sem colisões. Especificamente, este trabalho trata da abordagem dos seguintes importantes problemas na área de Geometria e Topologia: (1) estudo do problema de planificação de movimento livre de colisões, para um número de espaços mecânicos importantes que aparecem na robótica. (2) estudo da complexidade topológica de (alguns) espaços mecânicos. (3) estudo dos variantes da complexidade topológica e seus problemas relacionados. (4) estudo da complexidade topológica para espaços asféricos. (5) entender a estrutura do anel de cohomologia de (alguns) espaços de configurações.
Title in English
Configuration spaces in collision-free simultaneous motion planning problem
Keywords in English
(Co)Homology
Configuration spaces
Fibre bundles
Homotopy
Topological robotics
Abstract in English
The aim of this work will be to present a topological study of the collision-free Robot Motion Planning Problem. Especifically, this project consists of the following important problems in the field of Geometry and Topology: (1) to study the collision free motion planning problem of some important mechanical spaces which appear in robotics. (2) to study the topological complexity of (some) mechanical spaces. (3) to study the variants of topological complexity and related problems. (4) to study the topological complexity of spherical spaces. (5) understanding of the structure of the cohomology ring of (some) configuration spaces.
 
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Publishing Date
2022-05-23
 
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