Related papers: Simplicial Complexity: piecewise linear motion pla…
We study the parameterized complexity of a generalization of the coordinated motion planning problem on graphs, where the goal is to route a specified subset of a given set of $k$ robots to their destinations with the aim of minimizing the…
This paper presents motion planning algorithms for underactuated systems evolving on rigid rotation and displacement groups. Motion planning is transcribed into (low-dimensional) combinatorial selection and inverse-kinematics problems. We…
In this paper, we systematically develop the $m$-contiguity distance between simplicial maps as a discrete approximation framework for homotopical complexity in the category of simplicial complexes. We construct an increasing sequence of…
We investigate the approximation of Monge--Kantorovich problems on general compact metric spaces, showing that optimal values, plans and maps can be effectively approximated via a fully discrete method. First we approximate optimal values…
We undertake a systematic study of the notion of fibration in the setting of abstract simplicial complexes, where the concept of `homotopy' has been replaced by that of `contiguity'. Then a fibration will be a simplicial map satisfying the…
We consider the problem of robot motion planning in an oriented Riemannian manifold as a topological motion planning problem in its oriented frame bundle. For this purpose, we study the topological complexity of oriented frame bundles,…
Given a compact, connected Lie group $K$, we use principal $K$-bundles to construct manifolds with prescribed finite-dimensional algebraic models. Conversely, let $M$ be a compact, connected, smooth manifold which supports an almost free…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
We define and study an equivariant version of Farber's topological complexity for spaces with a given compact group action. This is a special case of the equivariant sectional category of an equivariant map, also defined in this paper. The…
This paper is a continuation of our previous work in which we defined the notion of a polytope complex and its $K$-theory. In this paper we produce formulas for the delooping of a simplicial polytope complex and the cofiber of a morphism of…
Topological complexity is a numerical homotopy invariant that measures the instability of motion planning in a space. To study the topological complexity of non-simply connected spaces, Costa and Farber introduced a cohomology class whose…
We define a class of probability distributions that we call simplicial mixture models, inspired by simplicial complexes from algebraic topology. The parameters of these distributions represent their topology and we show that it is possible…
We describe an algorithm that associates to each positive real number $r$ and each finite collection $C_r$ of planar pixels of size $r$ a planar piecewise linear set $S_r$ with the following additional property: if $C_r$ is the collection…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
We consider the problem of computing the Euler characteristic of an abstract simplicial complex given by its vertices and facets. We show that this problem is #P-complete and present two new practical algorithms for computing Euler…
A multiobjective optimization problem is simplicial if the Pareto set and front are homeomorphic to a simplex and, under the homeomorphisms, each face of the simplex corresponds to the Pareto set and front of a subproblem. In this paper, we…
In this paper we show that a simplicial complex can be determined uniquely up to isomorphism by its barycentric subdivision or comparability graph. At the end, it is summarized several algebraic, combinatorial and topological invariants of…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
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…
Many discrete optimization problems amount to selecting a feasible set of edges of least weight. We consider in this paper the context of spatial graphs where the positions of the vertices are uncertain and belong to known uncertainty sets.…