Intro
Series Editor Foreword
Organization
Preface
Contents
Parametrized Motion Planning and Topological Complexity
1 Introduction
2 Parametrized Motion Planning Algorithms
3 Multiple Robots and Obstacles in Euclidean Space
4 Upper and Lower Bounds for TC[p:EB]
5 Algorithm
5.1 Subsets Aj,t
5.2 Aggregation
5.3 The Generic Case
5.4 Sections and Fibrewise Deformations
5.5 Sets A2n, t
5.6 Swapping Deformations
5.7 The Section s2n, t
5.8 Desingularization
6 Motion Planning Algorithm in Even Dimensions

7 Parametrized Topological Complexity of Sphere Bundles and the Stiefel-Whitney Characteristic Classes
8 Examples
References
A New Application of Discrete Morse Theory to Optimizing Safe Motion Planning Paths
1 Introduction
2 Related Work
3 Foundations
4 Methodology
4.1 Feasible Critical Points in Cspace
4.2 Generating -Clearance Samples in the Cspace
5 Experimental Setup
6 Results
6.1 Topology Map
6.2 Comparison to RRT-Based Algorithms
6.3 Comparison to PRM-Based Algorithms
6.4 Comparison with Existing Work in a 2D Environment
7 Discussion

8 Conclusion
References
Design Space Exploration for Sampling-Based Motion Planning Programs with Combinatory Logic Synthesis
1 Introduction
2 Related Work
2.1 Type-Directed Synthesis
2.2 Learning and Design Space Exploration
3 Preliminaries
3.1 Multi-objective Optimization Problem
3.2 Black-Box Optimization
3.3 Combinatory Logic Synthesis
4 Architectural Overview
4.1 A Repository for Sampling Based Motion Planning
4.2 Encoding Domain Knowledge in Semantic Types
5 Experiments
5.1 3D Rigid Body Planning

5.2 Motion Planning for Configurable Robotic Arms
6 Discussion
References
Large-Scale Heterogeneous Multi-robot Coverage via Domain Decomposition and Generative Allocation
1 Introduction
2 Domain Decomposition
3 Generative Task Allocation
3.1 Preliminaries
3.2 Evolution-Guided GAN
4 Local Trajectory Planning and Coverage Calculation
5 Experiments
5.1 Coverage Comparison
5.2 Pareto Front Comparison
6 Conclusion
References
Efficient Motion Planning Under Obstacle Uncertainty with Local Dependencies
1 Introduction

1.1 Approximations in Planning with Environment Uncertainty
1.2 Related Work
1.3 Summary of Formal and Experimental Results
2 Definitions
2.1 Formal Problem Definition
2.2 Formal Definition of Collision Horizon
3 Algorithm
3.1 Application to MCR
4 Empirical Results
4.1 Moving Boxes Domain
4.2 Additional Experiments
5 Conclusion and Future Work
References
Distributed Spacing Control for Multiple, Buoyancy-Controlled Underwater Robots
1 Introduction
2 Preliminaries
2.1 Graph Theory
2.2 Potential Function
3 Problem Formulation