Year: 2024
Type: conference-paper
Abstract: We study the problem of path planning with soft homology constraints on a surface topologically equivalent to a disk with punctures. Specifically, we propose an algorithm, named ${{\mathcal{H}}^{\ast}}$, for the efficient computation of a path homologous to a user-provided reference path. We show that the algorithm can generate a suite of paths in distinct homology classes, from overall shortest path to the short path homologous to the reference, ordered both by path length and similarity to the reference path. Rollout is shown to improve the results produced by the algorithm. Experiments demonstrate that ${{\mathcal{H}}^{\ast}}$ can be an efficient alternative to optimal methods, especially for configuration spaces with many obstacles.
Institution: Rice University
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4402437074