Related papers: Simplicial Complexity: piecewise linear motion pla…
We introduce and study the proper topological complexity of a given configuration space, a version of the classical invariant for which we require that the algorithm controlling the motion is able to avoid any possible choice of ``unsafe''…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
We provide a short introduction to the field of topological data analysis and discuss its possible relevance for the study of complex systems. Topological data analysis provides a set of tools to characterise the shape of data, in terms of…
Planning in robotics is often split into task and motion planning. The high-level, symbolic task planner decides what needs to be done, while the motion planner checks feasibility and fills up geometric detail. It is known however that such…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
A new method is proposed for integrating the equations of motion of an elastic filament. In the standard finite-difference and finite-element formulations the continuum equations of motion are discretized in space and time, but it is then…
We use the topology of simplicial complexes to model political structures following [1]. Simplicial complexes are a natural tool to encode interactions in the structures since a simplex can be used to represent a subset of compatible…
The higher topological complexity of a space $X$, $\text{TC}_r(X)$, $r=2,3,\ldots$, and the topological complexity of a map $f$, $\text{TC}(f)$, have been introduced by Rudyak and Pave\v{s}i\'{c}, respectively, as natural extensions of…
We investigate the properties of a class of piecewise-fractional maps arising from the introduction of an invariance under rescaling into convex quadratic maps. The subsequent maps are quasiconvex, and pseudoconvex on specific convex cones;…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
Navigating mobile robots in social environments remains a challenging task due to the intricacies of human-robot interactions. Most of the motion planners designed for crowded and dynamic environments focus on choosing the best velocity to…
A central problem in topological data analysis is that of computing the homology of a given simplicial complex. Said complexes can have arbitrary large number of simplices, as can happen, for example, if the space is the Rips-Vietoris or…
We prove that a connected simplicial complex is uniquely determined by its complex of discrete Morse functions. This settles a question raised by Chari and Joswig. In the 1-dimensional case, this implies that the complex of rooted forests…
We study higher analogues of effective and effectual topological complexity of spaces equipped with a group action. These are $G$-homotopy invariant and are motivated by the (higher) motion planning problem of $G$-spaces for which their…
We introduce a combinatorial characterization of simpliciality for arrangements of hyperplanes. We then give a sharp upper bound for the number of hyperplanes of such an arrangement in the projective plane over a finite field, and present…
We generalize the classical K\"onig's and B\"ottcher's Theorems in complex dynamics to certain quasiregular mappings in the plane. Our approach to these results is unified in the sense that it does not depend on the local injectivity, or…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…