This paper proposes a novel solution to the problem of computing a set of topologically inequivalent paths between two points in a space given a set of samples drawn from that space. Specifically, these paths are homotopy inequivalent where homotopy is a topological equivalence relation. This is achieved by computing a basis for the group of homology inequivalent loops in the space. An additional distinct element is then computed where this element corresponds to a loop which passes through the points in question. The set of paths is subsequently obtained by taking the orbit of this element acted on by the group of homology inequivalent loops. Using a number of spaces, including a street network where the samples are GPS trajectories, the proposed method is demonstrated to accurately compute a set of homotopy inequivalent paths. The applications of this method include path and coverage planning.
Keywords: GPS trajectory; path planning; topology.