Related papers: Bidirectional Sequential Motion Planning
Topological spaces - such as classifying spaces, configuration spaces and spacetimes - often admit extra temporal structure. Qualitative invariants on such directed spaces often are more informative yet more difficult to calculate than…
We introduce and study a parametrized analogue of the directed topological complexity, originally developed by Goubault, Farber, and Sagnier. We establish the fibrewise basic dihomotopy invariance of directed parametrized topological…
We build free, bigraded bidifferential algebra models for the forms on a complex manifold, with respect to a strong notion of quasi-isomorphism and compatible with the conjugation symmetry. This answers a question of Sullivan. The resulting…
We show that both Lusternik-Schnirelmann category and topological complexity are particular cases of a more general notion, that we call homotopic distance between two maps. As a consequence, several properties of those invariants can be…
In terms of Rudyak's generalization of Farber's topological complexity of the path motion planning problem in robotics, we give a complete description of the topological instabilities in any sequential motion planning algorithm for a system…
We introduce the geodesic complexity of a metric space, inspired by the topological complexity of a topological space. Both of them are numerical invariants, but, while the TC only depends on the homotopy type, the GC is an invariant under…
When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…
We define the topological complexity sequence of a group as the sequence of topological complexities of its Milnor constructions. This sequence may be regarded as an intrinsic refinement of the topological complexity of a group and, unlike…
In this paper we combine a survey of the most important topological properties of kinematic maps that appear in robotics, with the exposition of some basic results regarding the topological complexity of a map. In particular, we discuss…
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…
In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…
We define and develop a homotopy invariant notion for the topological complexity of a map $f:X \to Y$, denoted TC($f$), that interacts with TC($X$) and TC($Y$) in the same way cat($f$) interacts with cat($X$) and cat($Y$). Furthermore,…
We construct algorithms and topological invariants that allow us to distinguish the topological type of a surface, as well as functions and vector fields for their topological equivalence. In the first part (arXiv:2501.15657), we discused…
The primary goal of this paper is to study topological invariants in two dimensional twofold rotation and time-reversal symmetric spinful systems. In this paper, firstly we build a new homotopy invariant based on the lifting of the Wilson…
We first study the higher version of the relative topological complexity by using the homotopic distance. We also introduced the generalized version of the relative topological complexity of a topological pair on both the Schwarz genus and…
We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is…
The aim of this article is to review different generalizations of the the notion of topological complexity to the equivariant setting. In particular, we review the relation (or non-relation) between these notions and the topological…
Topological complexity is a homotopy invariant that measures the minimal number of continuous rules required for motion planning in a space. In this work, we introduce persistent analogs of topological complexity and its cohomological lower…
Here we shall consider the topology and dynamics associated to a wide class of matchbox manifolds, including a large selection of tiling spaces and all minimal matchbox manifolds of dimension one. For such spaces we introduce topological…
In this extended abstract, we report on ongoing work towards an approximate multimodal optimization algorithm with asymptotic guarantees. Multimodal optimization is the problem of finding all local optimal solutions (modes) to a path…