Related papers: Topological complexity and efficiency of motion pl…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
The mixed scalar curvature is one of the simplest curvature invariants of a foliated Riemannian manifold. We explore the problem of prescribing the mixed scalar curvature of a foliated Riemann-Cartan manifold by conformal change of the…
We examine a wide class of stochastic approximation algorithms for solving (stochastic) nonlinear problems on Riemannian manifolds. Such algorithms arise naturally in the study of Riemannian optimization, game theory and optimal transport,…
Riemannian geometry provides the fundamental framework for optimization on nonlinear spaces such as matrix manifolds, which arise in machine learning, signal processing, and robotics. While the underlying theory is classical, existing…
We propose a simple, geometrically-motivated construction of smooth random paths in the plane. The construction is such that, with probability one, the paths have finite curvature everywhere (and the realizations are visually pleasing when…
This is a survey of known algorithms in algebraic topology with a focus on finite simplicial complexes and, in particular, simplicial manifolds. Wherever possible an elementary approach is chosen. This way the text may also serve as a…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
By a formula of Farber the topological complexity TC(X) of a (p-1)-connected, m-dimensional CW-complex X is bounded above by (2m+1)/p+1. There are also various lower estimates for TC(X) such as the nilpotency of the ring $H^*(X\times…
In this paper, we introduce relative LS category of a map and study some of its properties. Then we introduce `higher topological complexity' of a map, a homotopy invariant. We give a cohomological lower bound and compare it with previously…
In this paper, we transfer the problem of measuring navigational complexity in topological spaces to the nearness theory. We investigate the most important component of this problem, the topological complexity number (denoted by TC), with…
We employ Massey products to find sharper lower bounds for the Schwarz genus of a fibration than those previously known. In particular we give examples of non-formal spaces $X$ for which the topological complexity $\TC(X)$ (defined to be…
This work puts forth low-complexity Riemannian subspace descent algorithms for the minimization of functions over the symmetric positive definite (SPD) manifold. Different from the existing Riemannian gradient descent variants, the proposed…
Solving optimization tasks based on functions and losses with a topological flavor is a very active, growing field of research in data science and Topological Data Analysis, with applications in non-convex optimization, statistics and…
Algorithmic solutions for the motion planning problem have been investigated for five decades. Since the development of A* in 1969 many approaches have been investigated, traditionally classified as either grid decomposition, potential…
In this paper, we associate to two given continuous maps $f,g: X\rightarrow Z$, on a path connected space $X$, the relative topological complexity $TC^{(f, g, Z)}(X):=TC_X(X\times _ZX)$ of their fiber space $X\times _ZX$. When $g=f$ we…
We introduce variational obstacle avoidance problems on Riemannian manifolds and derive necessary conditions for the existence of their normal extremals. The problem consists of minimizing an energy functional depending on the velocity and…
In this paper, we consider the problem of minimizing a smooth function on a Riemannian manifold and present a Riemannian gradient method with momentum. The proposed algorithm represents a substantial and nontrivial extension of a recently…
We develop a theory of generalized Hopf invariants in the setting of sectional category. In particular we show how Hopf invariants for a product of fibrations can be identified as shuffle joins of Hopf invariants for the factors. Our…
We study the topological complexity, in the sense of Smale, of three enumerative problems in algebraic geometry: finding the 27 lines on cubic surfaces, the 28 bitangents and the 24 inflection points on quartic curves. In particular, we…
Numerical continuation in the context of optimization can be used to mitigate convergence issues due to a poor initial guess. In this work, we extend this idea to Riemannian optimization problems, that is, the minimization of a target…