Affiliation:
1. Department of Computer Science Cornell University Ithaca, New York 14853
Abstract
This paper concerns the problem of motion planning for robots with uncertainty in sensing and control. Although this problem has been studied before, this is the first attempt at its inherent complexity. To compensate for the uncertainties in sensing and control, our robot model includes damping— a limited capacity for compliance. In this setting, we show that motion planning for point objects is PSPACE-hard by a direct reduction from polynomial-space bounded Turing machine computations. We also present a restricted version of the problem that is PSPACE-complete.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software
Reference6 articles.
1. Automatic Synthesis of Fine-Motion Strategies for Robots
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3. Natarajan, B.K. 1986. On moving and orienting objects. Cornell University, TR86-775.
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