Bulletin of Computational Applied Mathematics (Bull CompAMa)
Motion planning algorithms, topological properties and affine approximation
Younes Derfoufi, My Ismail Mamouni
The topological study of the so-called "motion planning algorithms" emerged in the 2003-2004 with the works of M. Farber. We focus here on the topological study of the set of these algorithms, when the configuration space is a normed vector space. We especially show that any motion planning algorithm in a compact sub-configuration space can be approximated by some piecewise affine ones.
Keywords: Motion planning algorithms; topological robotics; approximation; regular spaces.