Related papers: Geodesic complexity of motion planning
In this paper, we transfer the problem of measuring navigational complexity in topological spaces to the nearness theory. We investigate the most important component of this problem, the topological complexity number (denoted by TC), with…
We study certain topological problems that are inspired by applications to autonomous robot manipulation. Consider a continuous map $f\colon X\to Y$, where $f$ can be a kinematic map from the configuration space $X$ to the working space $Y$…
The complexity of algorithms solving the motion planning problem is measured by a homotopy invariant TC(X) of the configuration space X of the system. Previously known lower bounds for TC(X) use the structure of the cohomology algebra of X.…
We study the topological complexity of work maps with respect to some subspaces of the configuration space and a workspace considered as the target set of the motion of robots. The motivation is to optimize and reduce the number of motion…
Motion path planning is an intrinsically geometric problem which is central for design of robot systems. Since the early years of AI, robotics together with computer vision have been the areas of computer science that drove its development.…
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…
In this paper we study a notion of topological complexity for the motion planning problem. The topological complexity is a number which measures discontinuity of the process of motion planning in the configuration space X. More precisely,…
This paper is a review on recently found connection between geodesically equivalent metrics and integrable geodesic flows. Suppose two different metrics on one manifold have the same geodesics. We show that then the geodesic flows of these…
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…
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…
In this paper we generalize the discrete r-homotopy to the discrete (s, r)-homotopy. Then by this notion, we introduce the discrete motion planning for robots which can move discreetly. Moreover, in this case the number of motion planning,…
Let $V$ be a separable Hilbert space, possibly infinite dimensional. Let $\St(p,V)$ be the Stiefel manifold of orthonormal frames of $p$ vectors in $V$, and let $\Gr(p,V)$ be the Grassmann manifold of $p$ dimensional subspaces of $V$. We…
This paper studies the magnitude homology groups of geodesic metric spaces. We start with a description of the second magnitude homology of a general metric space in terms of the zeroth homology groups of certain simplicial complexes. Then,…
This thesis is concerned with extending the idea of geodesic completeness from pseudo-Riemannian to complex geometry: we take, however a completely holomorphicpoint of view; that is to say, a 'metric' will be a (meromorphic) symmetric…
Geodesics become an essential element of the geometry of a semi-Riemannian manifold. In fact, their differences and similarities with the (positive definite) Riemannian case, constitute the first step to understand semi-Riemannian Geometry.…
Farber and Rudyak introduced topological complexity $\mathbf{TC}(X)$ of motion planning and its higher analogs $\mathbf{TC}_n(X)$ to measure the complexity of assigning paths to point tuples. Motivated by motion planning where a robotic…
We develop the properties of the $n$-th sequential topological complexity $TC_n$, a homotopy invariant introduced by the third author as an extension of Farber's topological model for studying the complexity of motion planning algorithms in…
The higher topological complexity of a space $X$, $\text{TC}_r(X)$, $r=2,3,\ldots$, and the topological complexity of a map $f$, $\text{TC}(f)$, have been introduced by Rudyak and Pave\v{s}i\'{c}, respectively, as natural extensions of…
A generic method for combinatorial constructions of intrinsic geometrical spaces is presented. It is based on the well known inverse sequences of finite graphs that determine (in the limit) topological spaces. If a pattern of the…
We introduce a new class of zero-dimensional weighted complete intersections, by abstracting the essential features of rational cohomology algebras of equal rank homogeneous spaces of compact connected Lie groups. We prove that, on a…