ABSTRACT. Braids are intimately related to configuration spaces of points.
These configuration spaces give a useful model of autonomous agents (or
robots) in an environment. Problems of relevance to autonomous engineering
systems (e.g., motion planning, coordination, cooperation, assembly) are directly
related to topological and geometric properties of configuration spaces,
including their braid groups. These notes detail this correspondence, and explore
several novel examples of configuration spaces relevant to applications
in robotics. No familiarity with robotics is assumed.
These configuration spaces give a useful model of autonomous agents (or
robots) in an environment. Problems of relevance to autonomous engineering
systems (e.g., motion planning, coordination, cooperation, assembly) are directly
related to topological and geometric properties of configuration spaces,
including their braid groups. These notes detail this correspondence, and explore
several novel examples of configuration spaces relevant to applications
in robotics. No familiarity with robotics is assumed.
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