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Exact robot navigation by means of potential functions: Some topological considerations

Proceedings of the IEEE International Conference on Robotics and Automation, April 1987

D. E. Koditschek
Yale University
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Abstract
The limits in global navigation capability of potential function based robot control algorithms are explored. Elementary tools of algebraic and differential topology are used to advance arguments suggesting the existence of potential functions over a bounded planar region with arbitrary fixed obstacles possessed of a unique local minimum. A class of such potential functions is constructed for certain cases of a planar disk region with an arbitrary number of smaller disks removed.
BibTeX entry
@inproceedings{kod-icra-1987-1,
   title      = {Exact robot navigation by means of potential functions: Some topological considerations},
   author     = {D.E. Koditschek},
   booktitle  = {Proceedings of the IEEE International Conference on Robotics and Automation},
   year       = {1987},
   month      = {April},
}

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