Related papers: Robot motion planning, weights of cohomology class…
The Topological complexity a la Farber $\text{TC}(-)$ is a homotopy invariant which have interesting applications in Robotics, specifically, in the robot motion planning problem. In this work we calculate the topological complexity of the…
We design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion…
It has been observed that the very important motion planning problem of robotics mathematically speaking boils down to the problem of finding a section to the path-space fibration, raising the notion of topological complexity, as introduced…
We study the topological complexity of work maps with respect to some subspaces of the configuration space and a workspace considered as the target set of the motion of robots. The motivation is to optimize and reduce the number of motion…
In this paper we introduce and study a new concept of parametrised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high…
In this paper we generalize the discrete r-homotopy to the discrete (s, r)-homotopy. Then by this notion, we introduce the discrete motion planning for robots which can move discreetly. Moreover, in this case the number of motion planning,…
Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…
In a recent publication (D. Govc, W. Marzantowicz, P. Pavesic, Estimates of covering type and the number of vertices of minimal triangulations, Discr. Comp. Geom. 63 (2019), 31-48) we have introduced a new method, based on the…
Let X be a subcomplex of the standard CW-decomposition of the n-dimensional torus. We exhibit an explicit optimal motion planning algorithm for X. This construction is used to calculate the topological complexity of complements of general…
Topological complexity $\TC{B}$ of a space $B$ is introduced by M. Farber to measure how much complex the space is, which is first considered on a configuration space of a motion planning of a robot arm. We also consider a stronger version…
We establish sharp upper bounds for the topological complexity of motion planning problem in spaces with small fundamental group, i.e. when it is finite of small order or has small cohomological dimension.
In this paper, we investigate discrete topological complexity $TC(K)$ introduced for situations where the configuration space possesses a simplicial structure. %Simplicial complexes are well-known and commonly used in programming for…
We define a new version of Topological Complexity (TC) of a space, denoted as $\text{dTC}$, which, we think, fits better for motion planning for some autonomous systems. Like Topological complexity, \text{dTC} is also a homotopy invariant.…
Cohomology operations (including the cohomology ring) of a geometric object are finer algebraic invariants than the homology of it. In the literature, there exist various algorithms for computing the homology groups of simplicial complexes…
We introduce a bivariate version of topological complexity, $\mathrm{TC}(f,g)$, associated with two continuous maps $f\colon X\to Z$ and $g\colon Y\to Z$. This invariant measures the minimal number of continuous motion planning rules…
We present a new approach to equivariant version of the topological complexity, called a symmetric topological complexity. It seems that the presented approach is more adequate for the analysis of an impact of symmetry on the the motion…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…
The Lusternik-Schnirelmann category $cat(X)$ is a homotopy invariant which is a numerical bound on the number of critical points of a smooth function on a manifold. Another similar invariant is the topological complexity $TC(X)$ (a la…
Topological complexity is a numerical homotopy invariant that measures the instability of motion planning in a space. To study the topological complexity of non-simply connected spaces, Costa and Farber introduced a cohomology class whose…