Related papers: Bidirectional Sequential Motion Planning
We introduce a notion of discrete topological complexity in the setting of simplicial complexes, using only the combinatorial structure of the complex by means of the concept of contiguous simplicial maps. We study the links of this new…
We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of…
The aim of homotopy theory in topology is to simplify, after continuous deformation, continuous maps between topological spaces. What prevents this from happening are homotopy invariants. This raises quantitative questions: $\bullet$ Is the…
We introduce a variant of Farber's topological complexity, defined for smooth compact orientable Riemannian manifolds, which takes into account only motion planners with the lowest possible "average length" of the output paths. We prove…
We define a new version of Topological Complexity (TC) of a space, denoted as $\text{dTC}$, which, we think, fits better for motion planning for some autonomous systems. Like Topological complexity, \text{dTC} is also a homotopy invariant.…
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…
Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…
We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information…
This paper explores topological complexity in the finite equivariant setting. We first define and study an equivariant version of Tanaka's combinatorial complexity for finite topological spaces. We explore the relationships between this…
We consider two categories related to symplectic manifolds: 1. Objects are symplectic manifolds and morphisms are symplectic embeddings. 2. Objects are symplectic manifolds endowed with compatible almost complex structure and morphisms are…
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.
In this paper we introduce the concepts of higher equivariant and invariant topological complexity; and study their properties. Then we compare them with equivariant LS-category. We give lower and upper bounds for these new invariants. We…
In this paper we study the complexity of the motion planning problem for control-affine systems. Such complexities are already defined and rather well-understood in the particular case of nonholonomic (or sub-Riemannian) systems. Our aim is…
In this short note we observe that the higher topological complexity of an iterated connected sum of real projective spaces is maximal possible. Unlike the case of regular TC, the result is accessible through easy mod 2 zero-divisor…
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…
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…
In this paper, we study three relative LS categories of a map and study some of their properties. Then we introduce the `higher topological complexity' and `weak higher topological complexity' of a map. Each of them are homotopy invariants.…
In this paper, we investigate discrete topological complexity $TC(K)$ introduced for situations where the configuration space possesses a simplicial structure. %Simplicial complexes are well-known and commonly used in programming for…
We compute the higher topological complexity of ordered configuration spaces of orientable surfaces, thus extending Cohen-Farber's description of the ordinary topological complexity of those spaces.
We determine the symmetrized topological complexity of the circle, using primarily just general topology.