Alpha Puzzle | MP Benchmarks | Parasol Laboratory

Alpha Puzzle

Alpha Puzzle
Provided by Boris Yamrom, GE Corporate Research & Development Center

The alpha puzzle benchmark is a motion planning problem containing a narrow passage. The puzzle consists of two tubes, each twisted into an alpha shape; one tube is the obstacle and the other the moving object (robot). The objective is to separate the intertwined tubes.

Each tube consists of 1008 triangles. The models are given in world coordinates in which the `robot' and `obstacle' tubes are in an intertwined configuration. Versions of the problem with various levels of difficulty are available below.

The models are available in BYU format.

Versions

The different versions of this problem were obtained scaled the obstacle tube along the z-axis by a constant factor greater than 1, which had the effect of widening the gap between the two prongs of the alpha. Thus, the hardest version is the original problem, and the easiest version is the 1.5 scaled version. So far we have solved the 1.1 version.

Original Version (1.0 Scaled)
BYU format:		Robot	Obstacle	Tar File

1.1 Scaled Version
BYU format:		Robot	Obstacle	Tar File

1.2 Scaled Version
BYU format:		Robot	Obstacle	Tar File

1.5 Scaled Version
BYU format:		Robot	Obstacle	Tar File

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