Related papers: Sequential motion planning assisted by group actio…
A condition of geometric modular action is proposed as a selection principle for physically interesting states on general space-times. This condition is naturally associated with transformation groups of partially ordered sets and provides…
In this paper we define invariants of Hamiltonian group actions for central regular values of the moment map. The key hypotheses are that the moment map is proper and that the ambient manifold is symplectically aspherical. The invariants…
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 $Y$…
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…
We study the topology of circularly ordered sets. While the algebraic notion is classical, the general topological theory has received comparatively little attention. In this work we provide a self-contained topological exposition and…
We classify symplectic non-Hamiltonian circle actions on compact connected symplectic 4-manifolds, up to equivariant symplectomorphisms. Namely, we define a set of invariants, show that the set is complete, and determine which values are…
Let $G$ be a connected Lie group and $\text{Sub}_G$ be the space of closed subgroups of $G$ equipped with the Chabauty topology. In this article, we investigate the existence of invariant random subgroups of $G$ supported on various orbits…
We prove a version of the Chevalley Restriction Theorem for the action of a real reductive group G on a topological space X which locally embeds into a holomorphic representation. Assuming that there exists an appropriate quotient X//G for…
We describe an algorithm that constructs a list of all topological types of holomorphic actions of a finite group on a compact Riemann surface $C$ of genus at least $g \geq 2$ with $C/G \cong \mathbb{P}^1$.
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…
When a group acts on a set, it naturally partitions it into orbits, giving rise to orbit problems. These are natural algorithmic problems, as symmetries are central in numerous questions and structures in physics, mathematics, computer…
A global action is the algebraic analogue of a topological manifold. This construction was introduced in first place by A. Bak as a combinatorial approach to K-Theory and the concept was later generalized by Bak, Brown, Minian and Porter to…
A connection between representation of compact groups and some invariant ensembles of Hermitian matrices is described. We focus on two types of invariant ensembles which extend the Gaussian and the Laguerre Unitary ensembles. We study them…
Twenty years ago Gromov asked about how large is the set of isomorphism classes of groups whose systolic area is bounded from above. This article introduces a new combinatorial invariant for finitely presentable groups called {\it…
We study actions of linear algebraic groups on central simple algebras using algebro-geometric techniques. Suppose an algebraic group G acts on a central simple algebra A of degree n. We are interested in questions of the following type:…
In this paper we survey some recent results on actions of finite groups on topological manifolds. Given an action of a finite group $G$ on a manifold $X$, these results provide information on the restriction of the action to a subgroup of…
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.…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
We first introduce an invariant index for G-equivariant elliptic differential operators on a locally compact manifold M admitting a proper cocompact action of a locally compact group G. It generalizes the Kawasaki index for orbifolds to the…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…