Related papers: Linear motion planning with controlled collisions …
Let $Q_n$ be the quasi-projective subspace of the symplectic group $\mathrm{Sp}(n)$. In this short note, we prove that the subspace Lusternik-Schnirelmann category of $Q_n$ in $\mathrm{Sp}(n)$ is 2. For that, we use a quaternionic…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
A geometric construction of Z_2-graded orthogonal modular categories is given. Their 0-graded parts coincide with categories previously obtained by Blanchet and the author from the category of tangles modulo the Kauffman skein relations.…
In this paper, Lusternik-Schinrelmann and geometric category of finite spaces are considered. We define new numerical invariants of these spaces derived from the geometric category and present an algorithmic approach for its effective…
In this paper we study the spaces of $q$-tuples of points in a Euclidean space, without $k$-wise coincidences (configuration-like spaces). A transitive group action by permuting these points is considered, and some new upper bounds on the…
We show that the limiting Khovanov chain complex of any infinite positive braid categorifies the Jones-Wenzl projector. This result extends Lev Rozansky's categorification of the Jones-Wenzl projectors using the limiting complex of infinite…
In this paper, we present a task space-based local motion planner that incorporates collision avoidance and constraints on end-effector motion during the execution of a task. Our key technical contribution is the development of a novel…
Let A be an arrangement of complex hyperplanes. The fundamental group of the complement of A is determined by a braid monodromy homomorphism from a finitely generated free group to the pure braid group. Using the Gassner representation of…
We introduce and develop a language of semigroups over the braid groups for a study of braid monodromy factorizations (bmf's) of plane algebraic curves and other related objects. As an application we give a new proof of Orevkov's theorem on…
Lawrence-Krammer representations (LK-representations for short) are linear representations of Artin-Tits groups of small type, which are of importance since they are known to be faithful when the type is spherical, or more generally when…
The monograph offers a coherent and self-contained treatment of massless (ladder) representations of the conformal group U(2,2) and their restriction to the de Sitter group Sp(2,2), combining rigorous representation-theoretic analysis with…
The Collaborative Task Sequencing and Multi-Agent Path Finding (CTS-MAPF) problem requires agents to accomplish sequences of tasks while avoiding collisions, posing significant challenges due to its combinatorial complexity. This work…
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard.…
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 extend the behaviour of generic sample-based motion planners to support obstacle avoidance during long-range path following by introducing a new edge-cost metric paired with a curvilinear planning space. The resulting planner generates…
The equivariant Kazhdan-Lusztig polynomial of a braid matroid may be interpreted as the intersection cohomology of a certain partial compactification of the configuration space of n distinct labeled points in the plane, regarded as a graded…
We prove a conjecture of L\^{e} and Sikora by providing a comparison between various existing $SL_n$ skein theories. While doing so, we show that the full subcategory of the spider category, $\mathcal{S}p(SL_n)$, defined by…
We show how locally smooth actions of compact Lie groups on a manifold $X$ can be used to obtain new upper bounds for the topological complexity $\TC(X)$, in the sense of Farber. We also obtain new bounds for the topological complexity of…
Safe and explainable motion planning remains a central challenge in autonomous driving. While rule-based planners offer predictable and explainable behavior, they often fail to grasp the complexity and uncertainty of real-world traffic.…
We compute the Chekanov-Eliashberg contact homology of what we call the Legendrian closure of a positive braid. We also construct an augmentation for each such link diagram. Then we apply the monodromy techniques established in an earlier…