Related papers: Topological complexity of a map
The Lusternik-Schnirelmann category cat and topological complexity TC are related homotopy invariants. The topological complexity TC has applications to the robot motion planning problem. We calculate the Lusternik-Schnirelmann category and…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
Mapping is an essential task for mobile robots and topological representation often works as a basis for the various applications. In this paper, a novel framework that can build topological maps incrementally is proposed. The algorithm is…
Loops are pervasive in robotics problems, appearing in mapping and localization, where one is interested in finding loop closure constraints to better approximate robot poses or other estimated quantities, as well as planning and…
We study the topology of toric maps. We show that if $f\colon X\to Y$ is a proper toric morphism, with $X$ simplicial, then the cohomology of every fiber of $f$ is pure and of Hodge-Tate type. When the map is a fibration, we give an…
Farber and Rudyak introduced topological complexity $\mathbf{TC}(X)$ of motion planning and its higher analogs $\mathbf{TC}_n(X)$ to measure the complexity of assigning paths to point tuples. Motivated by motion planning where a robotic…
We study a probabilistic variant of the r-th sequential parametrized topological complexity, which bounds this classical invariant from below and measures the difficulty in constructing permissive parametrized motion planning algorithms. On…
Analysis of motion algorithms for autonomous systems operating under variable external conditions leads to the concept of parametrized topological complexity \cite{CFW}. In \cite{CFW}, \cite{CFW2} the parametrized topological complexity was…
We design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion…
In this paper we study the topological invariant ${\sf {TC}}(X)$ reflecting the complexity of algorithms for autonomous robot motion. Here, $X$ stands for the configuration space of a system and ${\sf {TC}}(X)$ is, roughly, the minimal…
In arXiv:1711.10132 a new approximating invariant ${\mathsf{TC}}^{\mathcal{D}}$ for topological complexity was introduced called $\mathcal{D}$-topological complexity. In this paper, we explore more fully the properties of…
We consider two basic problems of algebraic topology, the extension problem and the computation of higher homotopy groups, from the point of view of computability and computational complexity. The extension problem is the following: Given…
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…
Using the notion of contiguity of simplicial maps, we adapt Farber's topological complexity to the realm of simplicial complexes. We show that, for a finite simplicial complex $K$, our discretized concept recovers the topological complexity…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
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,…
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 consider systems made of autonomous mobile robots evolving in highly dynamic discrete environment i.e., graphs where edges may appear and disappear unpredictably without any recurrence, stability, nor periodicity assumption. Robots are…
Let $X$ be a two-cell complex with attaching map $\alpha\colon S^q\to S^p$, and let $C_X$ be the cofiber of the diagonal inclusion $X\to X\times X$. It is shown that the topological complexity (${\rm TC}$) of $X$ agrees with the…
In this study, we delve into the discrete TC of surjective simplicial fibrations, aiming to unravel the interplay between topological complexity, discrete geometric structures, and computational efficiency. Moreover, we examine the…