Related papers: Linear motion planning with controlled collisions …
This thesis splits into two major parts. The connection between the two parts is the notion of "categorification" which we shortly explain/recall in the introduction. In the first part of this thesis we extend Bar-Natan's cobordism based…
We present a number of breakthroughs for coordinated motion planning, in which the objective is to reconfigure a swarm of labeled convex objects by a combination of parallel, continuous, collision-free translations into a given target…
Artin groups of finite type are not as well understood as braid groups. This is due to the additional geometric properties of braid groups coming from their close connection to mapping class groups. For each Artin group of finite type, we…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
The space of unordered configurations of distinct points in the plane is aspherical, with Artin's braid group as its fundamental group. Remarkably enough, the space of ordered configurations of distinct points on the real projective line,…
We construct $(2n+1)\times (2n+1)$ matrices corresponding to a motion of points on the plane from the point of view of Delaunay triangulations. We define a homomorphism from the pure braid group on ($n+3$) strands to the general linear…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
We study topologization of the semigroup $\mathscr{O\!\!I}\!_n(L)$ of finite partial order isomorphisms of a bounded rank of an infinite linear ordered set $(L,\leqslant)$. In particular we show that every $T_1$ left-topological…
Motion planning methods for autonomous systems based on nonlinear programming offer great flexibility in incorporating various dynamics, objectives, and constraints. One limitation of such tools is the difficulty of efficiently representing…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
We define an action of the extended affine d-strand braid group on the open positroid stratum in the Grassmannian Gr(k,n), for d the greatest common divisor of k and n. The action is by quasi-automorphisms of the cluster structure on the…
We give an algorithm for reducing the number of generators of the Khovanov chain complex of the torus braid $ft^k_n = (\sigma_1\sigma_2\cdots \sigma_{n-1})^k$ on $n$ strands by applying Bar-Natan Gaussian elimination along a distinguished…
Let $T$ be a maximal torus of ${\rm PSL}(n, \mathbb C)$. For $n\,\geq\, 4$, we construct a smooth compactification of ${\rm PSL}(n, \mathbb C)/T$ as a geometric invariant theoretic quotient of the wonderful compactification $\overline{{\rm…
This work presents a new path classification criterion to distinguish paths geometrically and topologically from the workspace, which is divided through cell decomposition, generating a medial-axis-like skeleton structure. We use this…
This paper presents a unified framework for determining the congruences on a number of monoids and categories of transformations, diagrams, matrices and braids, and on all their ideals. The key theoretical advances present an iterative…
In Coordinated Motion Planning (CMP), we are given a rectangular-grid on which $k$ robots occupy $k$ distinct starting gridpoints and need to reach $k$ distinct destination gridpoints. In each time step, any robot may move to a neighboring…
We will provide a lower bound for the equivariant Lusternik-Schnirelmann category of an arbitrary proper action in terms of the stratification by orbit types, and an upper bound for proper polar actions in terms of the equivariant…
In this paper, we introduce relative LS category of a map and study some of its properties. Then we introduce `higher topological complexity' of a map, a homotopy invariant. We give a cohomological lower bound and compare it with previously…
A smooth cuboid can be identified with a $3\times 3$ matrix of linear forms, with coefficients in a field $K$, whose determinant describes a smooth cubic in the projective plane. To each such matrix one can associate a group scheme over…
The topological complexity ${\sf TC}(X)$ is a homotopy invariant of a topological space $X$, motivated by robotics, and providing a measure of the navigational complexity of $X$. The topological complexity of a connected sum of real…