Related papers: Topological complexity and efficiency of motion pl…
In this paper, we deal with the robot motion planning problem in multi-valued function theory. We first enrich the multi-homotopy studies by introducing a multi-homotopy lifting property and a multi-fibration. Then we compute both a…
We first study the higher version of the relative topological complexity by using the homotopic distance. We also introduced the generalized version of the relative topological complexity of a topological pair on both the Schwarz genus and…
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…
We describe and implement a randomized algorithm that inputs a polyhedron, thought of as the space of states of some automated guided vehicle $\mathcal{R}$, and outputs an explicit system of piecewise linear motion planners for…
The topological complexity ${\sf TC}(X)$ is a homotopy invariant of a topological space $X$, motivated by robotics, and providing a measure of the navigational complexity of $X$. The topological complexity of a connected sum of real…
We propose a fast, simple and robust algorithm for computing shortest paths and distances on Riemannian manifolds learned from data. This amounts to solving a system of ordinary differential equations (ODEs) subject to boundary conditions.…
Topological complexity was first introduced in 2003 by Michael Farber as a homotopy invariant for a connected topological space X, denoted by TC(X). Although the invariant is defined in terms of elementary homotopy theory using well-known…
We construct algorithms and topological invariants that allow us to distinguish the topological type of a surface, as well as functions and vector fields for their topological equivalence. In the first part (arXiv:2501.15657), we discused…
We prove a lower bound for the topological complexity, in the sense of Smale, of the problem of finding a flex point on a cubic plane curve. The key is to bound the Schwarz genus of a cover associated to this problem. We also show that our…
We study an elementary problem of topological robotics: rotation of a line, which is fixed by a revolving joint at a base point: one wants to bring the line from its initial position to a final position by a continuous motion in the space.…
We survey two decades of work on the (sequential) topological complexity of configuration spaces of graphs (ordered and unordered), aiming to give an account that is unifying, elementary, and self-contained. We discuss the traditional…
Compact representations of objects is a common concept in computer science. Automated planning can be viewed as a case of this concept: a planning instance is a compact implicit representation of a graph and the problem is to find a path (a…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
We answer the following question posed by Lechuga: Given a simply-connected space $X$ with both $H_*(X,\qq)$ and $\pi_*(X)\otimes \qq$ being finite-dimensional, what is the computational complexity of an algorithm computing the cup-length…
A topological theory initiated recently by the author uses methods of algebraic topology to estimate numerically the character of instabilities arising in motion planning algorithms. The present paper studies random motion planning…
Many mechanical systems have configuration spaces that admit symmetries. Mathematically, such symmetries are modelled by the action of a group on a topological space. Several variations of topological complexity have emerged that take…
Sampling-based motion planners are an effective means for generating collision-free motion paths. However, the quality of these motion paths (with respect to quality measures such as path length, clearance, smoothness or energy) is often…
We find conditions which ensure that the topological complexity of a closed manifold $M$ with abelian fundamental group is nonmaximal, and see through examples that our conditions are sharp. This generalizes results of Costa and Farber on…
We consider the problem of optimal path planning on a manifold which is the image of a smooth function. Optimal path-planning is of crucial importance for motion planning, image processing, and statistical data analysis. In this work, we…
We use a well known problem in discrete and computational geometry (partitions of measures by $k$-fans) as a motivation and as a point of departure to illustrate many aspects, both theoretical and computational, of the problem of…