Path algebra for mobile robots

Maire, Frederic & Suddrey, Gavin (2015) Path algebra for mobile robots. In Maher, Michael & Thiebaux, Sylvie (Eds.) 28th Australasian Joint Conference on Artificial Intelligence, 30 November – 4 December 2015, Canberra, ACT.

Abstract

In this paper, we introduce a path algebra well suited for navigation in environments that can be abstracted as topological graphs. From this path algebra, we derive algorithms to reduce routes in such environments. The routes are reduced in the sense that they are shorter (contain fewer edges), but still connect the endpoints of the initial routes. Contrary to planning methods descended from Disjktra’s Shortest Path Algorithm like D , the navigation methods derived from our path algebra do not require any graph representation. We prove that the reduced routes are optimal when the graphs are without cycles. In the case of graphs with cycles, we prove that whatever the length of the initial route, the length of the reduced route is bounded by a constant that only depends on the structure of the environment.

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ID Code: 89513
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: path algebra, navigation, mobile robots, routing
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2015 [please consult the authors]
Deposited On: 27 Oct 2015 02:15
Last Modified: 18 Dec 2015 03:44

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