Decidability of robot manipulation planning: Three disks in the plane

Marilena Vendittelli, Jean Paul Laumond, Bhubaneswar Mishra

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

Abstract

This paper considers the problem of planning collision-free motion of three disks in the plane. One of the three disks, the robot, can autonomously translate in the plane, the other two move only when in contact with the robot. This represents the abstract formulation of a manipulation planning problem. Despite the simplicity of the formulation, the decidability of the problem had remained unproven so far.We prove that the problem is decidable, i.e., there exists an exact algorithm that decides whether a solution exists in finite time.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
PublisherSpringer Verlag
Pages641-657
Number of pages17
Volume107
ISBN (Print)9783319165943
DOIs
StatePublished - 2015
Event11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 - Istanbul, Turkey
Duration: Aug 3 2014Aug 5 2014

Publication series

NameSpringer Tracts in Advanced Robotics
Volume107
ISSN (Print)16107438
ISSN (Electronic)1610742X

Other

Other11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
CountryTurkey
CityIstanbul
Period8/3/148/5/14

Fingerprint

Computability and decidability
Robots
Planning

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Cite this

Vendittelli, M., Laumond, J. P., & Mishra, B. (2015). Decidability of robot manipulation planning: Three disks in the plane. In Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 (Vol. 107, pp. 641-657). (Springer Tracts in Advanced Robotics; Vol. 107). Springer Verlag. https://doi.org/10.1007/978-3-319-16595-0_37

Decidability of robot manipulation planning : Three disks in the plane. / Vendittelli, Marilena; Laumond, Jean Paul; Mishra, Bhubaneswar.

Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014. Vol. 107 Springer Verlag, 2015. p. 641-657 (Springer Tracts in Advanced Robotics; Vol. 107).

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

Vendittelli, M, Laumond, JP & Mishra, B 2015, Decidability of robot manipulation planning: Three disks in the plane. in Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014. vol. 107, Springer Tracts in Advanced Robotics, vol. 107, Springer Verlag, pp. 641-657, 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014, Istanbul, Turkey, 8/3/14. https://doi.org/10.1007/978-3-319-16595-0_37
Vendittelli M, Laumond JP, Mishra B. Decidability of robot manipulation planning: Three disks in the plane. In Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014. Vol. 107. Springer Verlag. 2015. p. 641-657. (Springer Tracts in Advanced Robotics). https://doi.org/10.1007/978-3-319-16595-0_37
Vendittelli, Marilena ; Laumond, Jean Paul ; Mishra, Bhubaneswar. / Decidability of robot manipulation planning : Three disks in the plane. Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014. Vol. 107 Springer Verlag, 2015. pp. 641-657 (Springer Tracts in Advanced Robotics).
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