Related papers: Linear motion planning with controlled collisions …
The topological complexity TC(X) is a numerical homotopy invariant of a topological space X which is motivated by robotics and is similar in spirit to the classical Lusternik-Schnirelmann category of X. Given a mechanical system with…
By analyzing known presentations of the pure mapping groups of orientable surfaces of genus $g$ with $b$ boundary components and $n$ punctures, we show that these groups are isomorphic to some groups related to the braid groups and the…
We establish sharp upper bounds for the topological complexity of motion planning problem in spaces with small fundamental group, i.e. when it is finite of small order or has small cohomological dimension.
We show that the Lusternik-Schnirelmann category of a simple, simply connected, compact Lie group G is bounded above by the sum of the relative categories of certain distinguished conjugacy classes in G corresponding to the vertices of the…
We use some detailed knowledge of the cohomology ring of real Grassmann manifolds $G_k(\mathbb{R}^n)$ to compute zero-divisor cup-length and estimate topological complexity of motion planning for $k$-linear subspaces in $\mathbb{R}^n$. In…
Let X be a (not-necessarily homotopy-associative) H-space. We show that TC_{n+1}(X) = cat(X^n), for n >= 1, where TC_{n+1}(-) denotes the so-called higher topological complexity introduced by Rudyak, and cat(-) denotes the…
We study the Lusternik-Schnirelmann category and topological complexity of 1-dimensional spaces. We define both invariants as lengths of suitable closed filtrations, as opposed to a more common definition based on open covers. Our main…
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…
We construct "higher" motion planners for automated systems whose space of states are homotopy equivalent to a polyhedral product space $Z(K,\{(S^{k_i},\star)\})$, e.g. robot arms with restrictions on the possible combinations of…
We describe the construction of a minimal presentation for the group of planar pure braids $\overline{P}_n$ on $n$ strands. The generators of this presentation are dual to the generators of the cohomology ring of $\overline{P}_n$ found by…
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes potential sequences to meet spatial constraints, using them to…
The $n$-th symmetric product of a topological space $X$ is the orbit space of the natural action of the symmetric group $S_n$ on the product space $X^n$. In this paper, we compute the sequential topological complexities of (finite products…
The spaces of point configurations on the projective line up to the action of $\mathrm{SL}(2,\mathbb K)$ and its maximal torus are canonically compactified by the Grothdieck-Knudsen and Losev-Manin moduli spaces $\overline M_{0,n}$ and…
In the first part of the Thesis, we reformulate the Murakami-Ohtsuki-Yamada state-sum description of the level n Jones polynomial of an oriented link in terms of a suitable braided monoidal category whose morphisms are Q[q, q-1] s-linear…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
We show that the limiting unicolored $\mathfrak{sl}(N)$ Khovanov-Rozansky chain complex of any infinite positive braid categorifies a highest-weight projector. This result extends an earlier result of Cautis categorifying highest-weight…
There exists a simplified Bar-Natan Khovanov complex for open 2-braids. The Khovanov cohomology of a knot diagram made by gluing tangles of this type is therefore often amenable to calculation. We lift this idea to the level of the…
It has been observed that the very important motion planning problem of robotics mathematically speaking boils down to the problem of finding a section to the path-space fibration, raising the notion of topological complexity, as introduced…
This is a glossary of notions and methods related with the topological theory of collections of affine planes, including braid groups, configuration spaces, order complexes, stratified Morse theory, simplicial resolutions, complexes of…
In "Homfly polynomial via an invariant of colored plane graphs", Murakami, Ohtsuki, and Yamada provide a state-sum description of the level $n$ Jones polynomial of an oriented link in terms of a suitable braided monoidal category whose…