Topological complexity of collision free motion planning algorithms in the presence of multiple moving obstacles

Michael Farber*, Mark Grant, Sergey Yuzvinsky

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information about cohomology algebras of configuration spaces. The results of the paper may potentially be used in systems of automatic traffic control.

Original languageEnglish
Title of host publicationTopology and Robotics
EditorsM Farber, R Ghrist, M Burger, D Koditschek
Place of PublicationProvidence
PublisherAmerican Mathematical Society
Number of pages9
ISBN (Print)978-0-8218-4246-1
Publication statusPublished - 2007
EventWorkshop on Topology and Robotics - Zurich, Switzerland
Duration: 10 Jul 200614 Jul 2006

Publication series

NameContemporary Mathematics
PublisherAmerican Mathematical Society
ISSN (Print)0271-4132


ConferenceWorkshop on Topology and Robotics


  • robot motion planning
  • avoiding obstacles
  • moving obstacles
  • Schwarz genus
  • topological complexity
  • configuration spaces

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