Related papers: Linear motion planning with controlled collisions …

We present three new complexity results for classes of planning problems with simple causal graphs. First, we describe a polynomial-time algorithm that uses macros to generate plans for the class 3S of planning problems with binary state…

We calculate the Lusternik-Schnirelmann category of the k-th ordered configuration spaces F(R^n,k) of R^n and give bounds for the category of the corresponding unordered configuration spaces B(R^n,k) and the sectional category of the…

We show that a compact rigid balanced braided monoidal category with enough compact projective objects gives rise to a system of mapping class group representations compatible with the gluing along marked intervals. A motivation to consider…

We give a complete classification of homomorphisms from the braid group on $n$ strands to the braid group on $2n$ strands when $n$ is at least 5. We also classify endomorphisms of the braid group on 4 strands, as well as homomorphisms from…

Let $n\geq 1$. The pro-unipotent completion of the pure braid group of $n$ points on a genus 1 surface has been shown to be isomorphic to an explicit pro-unipotent group with graded Lie algebra using two types of tools: (a) minimal models…

In this article an explicit method (relying on representation theory) to construct packings in Grassmannian space is presented. Infinite families of configurations having only one non-trivial set of principal angles are found using…

We consider path planning for a rigid spatial robot with 6 degrees of freedom (6 DOFs), moving amidst polyhedral obstacles. A correct, complete and practical path planner for such a robot has never been achieved, although this is widely…

We develop tractable convex relaxations for rank-constrained quadratic optimization problems over $n \times m$ matrices, a setting for which tractable relaxations are typically only available when the objective or constraints admit spectral…

We study $\mathbb{R}^k \times \mathbb{Z}^\ell$ actions on arbitrary compact manifolds with a projectively dense set of Anosov elements and 1-dimensional coarse Lyapunov foliations. Such actions are called totally Cartan actions. We…

We propose two definitions of configuration Lie groupoids and in both the cases we prove a Fadell-Neuwirth type fibration theorem for a class of Lie groupoids. We show that this is the best possible extension, in the sense that, for the…

Motivated by the recently introduced concept of a pseudosymmetric braided monoidal category, we define the pseudosymmetric group PS_n, as the quotient of the braid group B_n by the relations \sigma_i\sigma_{i+1}^{-1}\sigma_i=\sigma…

In the setting of CAT(k) spaces, common fixed point iterations built from prox mappings (e.g. prox-prox, Krasnoselsky-Mann relaxations, nonlinear projected-gradients) converge locally linearly under the assumption of linear metric…

We study the compactification of the locus parametrizing lines with a fixed intersection to a given line, inside the moduli space of line arrangements in the projective plane constructed for weight one by Hacking-Keel-Tevelev and Alexeev…

We develop an Hamiltonian representation of the sl(2,C) algebra on a phase space consisting of N copies of twistors, or bi-spinors. We identify a complete set of global invariants, and show that they generate a closed algebra including…

Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, these sampling-based planners can become computationally…

Using the combinatorics of the underlying simplicial complex $K$, we give various upper and lower bounds for the Lusternik-Schnirelmann (LS) category of moment-angle complexes $\zk$. We describe families of simplicial complexes and…

In this paper we study symmetric motion planning algorithms, i.e. such that the motion from one state A to another B, prescribed by the algorithm, is the time reverse of the motion from B to A. We experiment with several different notions…

We propose and analyze a structure with which to organize the difference between a knot in the 3-sphere bounding a topologically embedded 2-disk in the 4-ball and it bounding a smoothly embedded disk. The n-solvable filtration of the…

Configuration spaces of distinct labeled points on the plane are of practical relevance in designing safe control schemes for Automated Guided Vehicles (robots) in industrial settings. In this announcement, we consider the problem of the…

This is the first part of a project aimed at formalizing Rozansky-Witten models in the functorial field theory framework. Motivated by work of Calaque-Haugseng-Scheimbauer, we construct a family of symmetric monoidal $(\infty,3)$-categories…