Related papers: Topological complexity and efficiency of motion pl…
We provide explicit motion planners for Euiclidean configuration spaces. This allows us to recover some known values of the topological complexity and the Lusternik-Schinirelman category of these spaces.
The topological complexity TC(X) is a homotopy invariant which reflects the complexity of the problem of constructing a motion planning algorithm in the space X, viewed as configuration space of a mechanical system. In this paper we…
In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean distances that ignore this structure. We address the…
We study certain topological problems that are inspired by applications to autonomous robot manipulation. Consider a continuous map $f\colon X\to Y$, where $f$ can be a kinematic map from the configuration space $X$ to the working space $Y$…
The higher topological complexity of a space $X$, $\text{TC}_r(X)$, $r=2,3,\ldots$, and the topological complexity of a map $f$, $\text{TC}(f)$, have been introduced by Rudyak and Pave\v{s}i\'{c}, respectively, as natural extensions of…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
We introduce the topological complexity of the work map associated to a robot system. In broad terms, this measures the complexity of any algorithm controlling, not just the motion of the configuration space of the given system, but the…
We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
We propose a novel method for planning shortest length piecewise-linear motions through complex environments punctured with static, moving, or even morphing obstacles. Using a moment optimization approach, we formulate a hierarchy of…
We study the geodesic motion planning problem for complete Riemannian manifolds and investigate their geodesic complexity, an integer-valued isometry invariant introduced by D. Recio-Mitter. Using methods from Riemannian geometry, we…
We show that linearly constrained linear optimization over a Stiefel or Grassmann manifold is NP-hard in general. We show that the same is true for unconstrained quadratic optimization over a Stiefel manifold. We will show that unless…
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,…
Parametrized motion planning algorithms have high degree of flexibility and universality, they can work under a variety of external conditions, which are viewed as parameters and form part of the input of the algorithm. In this paper we…
Topological complexity is a homotopy invariant that measures the minimal number of continuous rules required for motion planning in a space. In this work, we introduce persistent analogs of topological complexity and its cohomological lower…
We give new lower bounds for the (higher) topological complexity of a space, in terms of the Lusternik-Schnirelmann category of a certain auxiliary space. We also give new lower bounds for the rational topological complexity of a space, and…
Orthogonality constraints naturally appear in many machine learning problems, from principal component analysis to robust neural network training. They are usually solved using Riemannian optimization algorithms, which minimize the…
We study Farber's topological complexity (TC) of Davis' projective product spaces (PPS's). We show that, in many non-trivial instances, the TC of PPS's coming from at least two sphere factors is (much) lower than the dimension of the…
For a smooth, closed $n$-manifold $M$, we define an upper semi-continuous integer-valued complexity function on $H^1(M;{\mathbb R})$ using Morse theory. This measures how far an integral class is from being a fiber of a fibration. The fact…
We prove that the ordered configuration spaces of planar graphs have the highest possible topological complexity generically, as predicted by a conjecture of Farber. Our argument establishes the same generic maximality for all higher…