Shortest coordinated motions for square robots

IF 3.7 3区计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE

Autonomous Robots Pub Date : 2025-05-08 DOI:10.1007/s10514-025-10198-4

Guillermo Esteban, Dan Halperin, Rodrigo I. Silveira

引用次数: 0

Abstract

We study the problem of determining minimum-length coordinated motions for two axis-aligned square robots translating in an obstacle-free plane: Given feasible start and goal configurations (feasible in the sense that the two squares are interior disjoint), find a continuous motion for the two squares from start to goal, comprising only robot-robot collision-free configurations, such that the total Euclidean distance traveled by the two squares is minimal among all possible such motions. In this paper we present an adaptation of the tools developed for the case of disks to the case of squares. We show that in certain aspects the case of squares is more complicated, requiring additional and more involved arguments over the case of disks.

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方形机器人的最短协调运动

我们研究了确定两个轴向正方形机器人在无障碍平面上平移的最小长度协调运动的问题：给定可行的起始和目标构型（在这两个正方形内部不相交的意义上是可行的），找到两个正方形从起始到目标的连续运动，只包含机器人-机器人无碰撞构型，使得两个正方形走过的总欧氏距离在所有可能的运动中最小。在本文中，我们提出了一个适应的工具开发的情况下，磁盘的情况下，以正方形的情况。我们表明，在某些方面，正方形的情况是更复杂的，需要额外的和更复杂的论证比磁盘的情况。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Autonomous Robots 工程技术-机器人学

CiteScore

7.90

自引率

5.70%

发文量

审稿时长

3 months

期刊介绍： Autonomous Robots reports on the theory and applications of robotic systems capable of some degree of self-sufficiency. It features papers that include performance data on actual robots in the real world. Coverage includes: control of autonomous robots · real-time vision · autonomous wheeled and tracked vehicles · legged vehicles · computational architectures for autonomous systems · distributed architectures for learning, control and adaptation · studies of autonomous robot systems · sensor fusion · theory of autonomous systems · terrain mapping and recognition · self-calibration and self-repair for robots · self-reproducing intelligent structures · genetic algorithms as models for robot development. The focus is on the ability to move and be self-sufficient, not on whether the system is an imitation of biology. Of course, biological models for robotic systems are of major interest to the journal since living systems are prototypes for autonomous behavior.