Topological Robotics: Subspace Arrangements and Collision Free Motion Planning

Abstract

We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in the process of motion. The ultimate goal is to construct an algorithm which will perform this task once the initial and the final configurations are given. This reduces to a topological problem of finding the topological complexity TC(C_n(\R^m)) of the configutation space C_n(\R^m) of $n$ distinct ordered particles in \R^m. We solve this problem for m=2 (the planar case) and for all odd m, including the case m=3 (particles in the three-dimensional space). We also study a more general motion planning problem in Euclidean space with a hyperplane arrangement as obstacle.