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IJRR
2010

On the Topology of Discrete Strategies

11 years 8 months ago
On the Topology of Discrete Strategies
This paper explores a topological perspective of planning in the presence of uncertainty, focusing on tasks specified by goal states in discrete spaces. The paper introduces strategy complexes. A strategy complex is the collection of all plans for attaining all goals in a given space. Plans are like jigsaw pieces. Understanding how the pieces fit together in a strategy complex reveals structure. That structure characterizes the inherent capabilities of an uncertain system. By adjusting the jigsaw pieces in a design loop, one can build systems with desired competencies. The paper draws on representations from combinatorial topology, Markov chains, and polyhedral cones. Triangulating between these three perspectives produces a topological language for describing concisely the capabilities of uncertain systems, analogous to concepts of reachability and controllability in other disciplines. The major nouns in this language are topological spaces. Three key theorems (numbered 1, 11, 20 i...
Michael Erdmann
Added 28 Jan 2011
Updated 28 Jan 2011
Type Journal
Year 2010
Where IJRR
Authors Michael Erdmann
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