Related papers: Geodesic complexity of motion planning
Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure…
We introduce a new complexity measure of a path of (problems, solutions) pairs in terms of the length of the path in the condition metric which we define in the article. The measure gives an upper bound for the number of Newton steps…
We study the problem of finding, for a given one-dimensional topological space $X$, a cover of $X$ of smallest size by geodesics with respect to some metric. The infimal size of such a set is called the metric geodesic cover number of $X$.…
Many mechanical systems have configuration spaces that admit symmetries. Mathematically, such symmetries are modelled by the action of a group on a topological space. Several variations of topological complexity have emerged that take…
We consider spaces of smooth immersed plane curves (modulo translations and/or rotations), equipped with reparameterization invariant weak Riemannian metrics involving second derivatives. This includes the full $H^2$-metric without zero…
We provide a new construction of the topological cyclic homology $TC(C)$ of any spectrally-enriched $\infty$-category $C$, which affords a precise algebro-geometric interpretation of the cyclotomic trace map $K(X) \to TC(X)$ from algebraic…
We develop a new concept of non-positive curvature for metric spaces, based on intersection patterns of closed balls. In contrast to the synthetic approaches of Alexandrov and Buesemann, our concept also applies to metric spaces that might…
The unordered configuration space of $n$ points on a graph $\Gamma,$ denoted here by $UC^n(\Gamma),$ can be viewed as the space of all configurations of $n$ unlabeled robots on a system of one-dimensional tracks, which is interpreted as a…
Inspired by the concept of hyperconvexity and its relation to curvature, we translate geometric properties of a metric space encoded by the curvature inequalities into the persistent homology induced by the \v{C}ech filtration of that…
Geodesic orbit spaces (or g.o. spaces) are defined as those homogeneous Riemannian spaces $(M=G/H,g)$ whose geodesics are orbits of one-parameter subgroups of $G$. The corresponding metric $g$ is called a geodesic orbit metric. We study the…
A homogeneous Riemannian space $(M= G/H,g)$ is called a geodesic orbit space (shortly, GO-space) if any geodesic is an orbit of one-parameter subgroup of the isometry group $G$. We study the structure of compact GO-spaces and give some…
In this paper a systematic study of the category GTS of generalized topological spaces (in the sense of H. Delfs and M. Knebusch) and their strictly continuous mappings begins. Some completeness and cocompleteness results are achieved.…
The symmetrized bidisc \[ G \stackrel{\rm{def}}{=}\{(z+w,zw):|z|<1,\ |w|<1\} \] has interesting geometric properties. While it has a plentiful supply of complex geodesics and of automorphisms, there is nevertheless a unique complex geodesic…
Geometric motion planning offers effective and interpretable gait analysis and optimization tools for locomoting systems. However, due to the curse of dimensionality in coordinate optimization, a key component of geometric motion planning,…
Robots sense, move and act in the physical world. It is therefore natural that algorithmic problems in robotics and automation have a geometric component, often central to the problem. Below we review ten challenging problems at the…
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…
The comprehension of the intricate structure associated to the local symmetries encoded in the tetrad field, as well as its physical meaning, is perhaps the most important unsolved problem within $f(T)$ gravity. This is inextricably…
By using the representational power of Chu spaces we define the notion of a generalized topological space (or GTS, for short), i.e., a mathematical structure that generalizes the notion of a topological space. We demonstrate that these…
Any symmetric affinity function $w: V\times V \to \mathbb{R}_+$ defined on a discrete set $V$ induces Euclidean space structure on $V$. In particular, an undirected graph specified by an affinity (or adjacency) matrix can be considered as a…
We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on…