Configuration space

About: Configuration space is a research topic. Over the lifetime, 5873 publications have been published within this topic receiving 136193 citations.

Classical equations for quantum systems

Abstract: The origin of the phenomenological deterministic laws that approximately govern the quasiclassical domain of familiar experience is considered in the context of the quantum mechanics of closed systems such as the universe as a whole. A formulation of quantum mechanics is used that predicts probabilities for the individual members of a set of alternative coarse-grained histories that decohere, which means that there is negligible quantum interference between the individual histories in the set. We investigate the requirements for coarse grainings to yield decoherent sets of histories that are quasiclassical, i.e., such that the individual histories obey, with high probability, effective classical equations of motion interrupted continually by small fluctuations and occasionally by large ones. We discuss these requirements generally but study them specifically for coarse grainings of the type that follows a distinguished subset of a complete set of variables while ignoring the rest. More coarse graining is needed to achieve decoherence than would be suggested by naive arguments based on the uncertainty principle. Even coarser graining is required in the distinguished variables for them to have the necessary inertia to approach classical predictability in the presence of the noise consisting of the fluctuations that typical mechanisms of decoherence produce. We describe the derivation of phenomenological equations of motion explicitly for a particular class of models. Those models assume configuration space and a fundamental Lagrangian that is the difference between a kinetic energy quadratic in the velocities and a potential energy. The distinguished variables are taken to be a fixed subset of coordinates of configuration space. The initial density matrix of the closed system is assumed to factor into a product of a density matrix in the distinguished subset and another in the rest of the coordinates. With these restrictions, we improve the derivation from quantum mechanics of the phenomenological equations of motion governing a quasiclassical domain in the following respects: Probabilities of the correlations in time that define equations of motion are explicitly considered. Fully nonlinear cases are studied. Methods are exhibited for finding the form of the phenomenological equations of motion even when these are only distantly related to those of the fundamental action. The demonstration of the connection between quantum-mechanical causality and causality in classical phenomenological equations of motion is generalized. The connections among decoherence, noise, dissipation, and the amount of coarse graining necessary to achieve classical predictability are investigated quantitatively. Routes to removing the restrictions on the models in order to deal with more realistic coarse grainings are described.

A motion planner for nonholonomic mobile robots

Abstract: This paper considers the problem of motion planning for a car-like robot (i.e., a mobile robot with a nonholonomic constraint whose turning radius is lower-bounded). We present a fast and exact planner for our mobile robot model, based upon recursive subdivision of a collision-free path generated by a lower-level geometric planner that ignores the motion constraints. The resultant trajectory is optimized to give a path that is of near-minimal length in its homotopy class. Our claims of high speed are supported by experimental results for implementations that assume a robot moving amid polygonal obstacles. The completeness and the complexity of the algorithm are proven using an appropriate metric in the configuration space R/sup 2//spl times/S/sup 1/ of the robot. This metric is defined by using the length of the shortest paths in the absence of obstacles as the distance between two configurations. We prove that the new induced topology and the classical one are the same. Although we concentrate upon the car-like robot, the generalization of these techniques leads to new theoretical issues involving sub-Riemannian geometry and to practical results for nonholonomic motion planning. >

A simple motion-planning algorithm for general robot manipulators

Abstract: A simple and efficient algorithm is presented, using configuration space, to plan collision-free motions for general manipulators. An implementation of the algorithm for manipulators made up of revolute joints is also presented. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n - 1- dimensional slices, recursively built up from one-dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles.