Invariants for Homology Classes with Application to Optimal Search and Planning Problem in Robotics

Subhrajit Bhattacharya, David Lipsky, Robert Ghrist +1

We consider planning problems on a punctured Euclidean spaces, ${\mathbb{R}}^D-\tilde{\mathcal{O}}$, where $\tilde{\mathcal{O}}$ is a collection of obstacles. Such spaces a…