Related papers: Topological complexity and efficiency of motion pl…
We construct "higher" motion planners for automated systems whose space of states are homotopy equivalent to a polyhedral product space $Z(K,\{(S^{k_i},\star)\})$, e.g. robot arms with restrictions on the possible combinations of…
We introduce a notion of retraction between continuous maps of topological spaces and study the behavior of several numerical invariants under such retractions. These include (co)homological dimensions, the Lusternik-Schnirelmann category,…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…
Instabilities of robot motion are caused by topological reasons. In this paper we find a relation between the topological properties of a configuration space (the structure of its cohomology algebra) and the character of instabilities,…
The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved much progress, there are still limitations, e.g., existing…
In this thesis, we aim to improve the performance of TAMP algorithms from three complementary perspectives. First, we investigate the integration of discrete task planning with continuous trajectory optimization. Our main contribution is a…
While the shortest path problem has myriad applications, the computational efficiency of suitable algorithms depends intimately on the underlying problem domain. In this paper, we focus on domains where evaluating the edge weight function…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
An asymptotically optimal sampling-based planner employs sampling to solve robot motion planning problems and returns paths with a cost that converges to the optimal solution cost, as the number of samples approaches infinity. This…
We consider a network topology design problem in which an initial undirected graph underlying the network is given and the objective is to select a set of edges to add to the graph to optimize the coherence of the resulting network. We show…
Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed insertion port. The robot often encounters angle limitations during…
A useful result is that if a bounded complex-valued path is Riemann-integrable, then its modulus is also Riemann-integrable. The extension of this last result to bounded paths taking values in a normed space is affirmed, as being true, in…
This paper offers an algorithmic solution to the problem of obtaining "economical" formulae for some maps in Simplicial Topology, having, in principle, a high computational cost in their evaluation. In particular, maps of this kind are used…
In traditional topology optimization, the computing time required to iteratively update the material distribution within a design domain strongly depends on the complexity or size of the problem, limiting its application in real engineering…
In this paper, we perform a rigourous version of shape and topological derivatives for optimizations problems under constraint Helmoltz problems. A shape and topological optimization problem is formulated by introducing cost functional. We…
A system of differential forms will establish a topology and a topological structure on a domain of independent variables such that is possible to determine which maps or processes acting on the system are continuous. Perhaps the most…
The long-time existence and umbilicity estimates for compact, graphical solutions to expanding curvature flows are deduced in Riemannian warped products of a real interval with a compact fibre. Notably we do not assume the ambient manifold…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
We apply the topology of convergence on compact sets to define unpredictable functions [5, 6]. The topology is metrizable and easy for applications with integral operators. To demonstrate the effectiveness of the approach, the existence and…
We study the quasiclassical expansion associated with a complex curve. In a more specific context this is the 1/N expansion in U(N)-invariant matrix integrals. We compare two approaches, the CFT approach and the topological recursion, and…