Related papers: Simplicial Complexity: piecewise linear motion pla…
A significant challenge in motion planning is to avoid being in or near \emph{singular configurations} (\textit{singularities}), that is, joint configurations that result in the loss of the ability to move in certain directions in task…
We introduce a version of Farber's topological complexity suitable for investigating mechanical systems whose configuration spaces exhibit symmetries. Our invariant has vastly different properties to the previous approaches of Colman-Grant,…
By complexifying a Hamiltonian system one obtains dynamics on a holomorphic symplectic manifold. To invert this construction we present a theory of real forms which not only recovers the original system but also yields different real…
This paper presents a data structure that summarizes distances between configurations across a robot configuration space, using a binary space partition whose cells contain parameters used for a locally linear approximation of the distance…
We consider simplicial sets equipped with a notion of smallness, and observe that this slight "topological" extension of the "algebraic" simplicial language allows a concise reformulation of a number of classical notions in topology, e.g.…
We outline a novel clustering scheme for simplicial complexes that produces clusters of simplices in a way that is sensitive to the homology of the complex. The method is inspired by, and can be seen as a higher-dimensional version of,…
The complexity of algorithms solving the motion planning problem is measured by a homotopy invariant TC(X) of the configuration space X of the system. Previously known lower bounds for TC(X) use the structure of the cohomology algebra of X.…
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…
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 introduce a notion of complexity of diagrams (and in particular of objects and morphisms) in an arbitrary category, as well as a notion of complexity of functors between categories equipped with complexity functions. We discuss several…
We consider the problem of efficiently computing a discrete Morse complex on simplicial complexes of arbitrary dimension and very large size. Based on a common graph-based formalism, we analyze existing data structures for simplicial…
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 this paper we study the complexity of the motion planning problem for control-affine systems. Such complexities are already defined and rather well-understood in the particular case of nonholonomic (or sub-Riemannian) systems. Our aim is…
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…
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…
A simple construction is presented, which generalises piecewise linear one-dimensional Markov maps to an arbitrary number of dimensions. The corresponding coupled map lattice, known as a simplicial mapping in the mathematical literature,…
Starting from Borel's description of the mod-2 cohomology of real flag manifolds, we give a minimal presentation of the cohomology ring for semi complete flag manifolds $F_{k,m}:=F(1,\ldots,1,m)$ where $1$ is repeated $k$ times. The…
In this paper we study symmetric motion planning algorithms, i.e. such that the motion from one state A to another B, prescribed by the algorithm, is the time reverse of the motion from B to A. We experiment with several different notions…
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…