Related papers: Proximal Motion Planning Algorithms
The $s$-th higher topological complexity of a space $X$, $TC_s(X)$, can be estimated from above by homotopical methods, and from below by homological methods. We give a thorough analysis of the gap between such estimates when $X=RP^m$, the…
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…
Although random cell complexes occur throughout the physical sciences, there does not appear to be a standard way to quantify their statistical similarities and differences. The various proposals in the literature are usually motivated by…
The Topological complexity a la Farber $\text{TC}(-)$ is a homotopy invariant which have interesting applications in Robotics, specifically, in the robot motion planning problem. In this work we calculate the topological complexity of the…
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…
By a formula of Farber the topological complexity TC(X) of a (p-1)-connected, m-dimensional CW-complex X is bounded above by (2m+1)/p+1. There are also various lower estimates for TC(X) such as the nilpotency of the ring $H^*(X\times…
In this paper we introduce and study a new concept of parametrised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high…
Complex networks are a powerful modeling tool, allowing the study of countless real-world systems. They have been used in very different domains such as computer science, biology, sociology, management, etc. Authors have been trying to…
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…
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…
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…
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…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
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 consider the problem of approximating a two-dimensional shape contour (or curve segment) using discrete assembly systems, which allow to build geometric structures based on limited sets of node and edge types subject to edge length and…
In this paper, we consider the problem of computing the nearest uncontrollable (C-uncontrollable) system to a given higher order system. The distance to the nearest uncontrollable system, also termed as the radius of controllability, is a…
Digital topological methods are often used on computing the topological complexity of digital images. We give new results on the relation between reducibility and digital contractibility in order to determine the topological complexity of a…
In this paper, we systematically develop the $m$-contiguity distance between simplicial maps as a discrete approximation framework for homotopical complexity in the category of simplicial complexes. We construct an increasing sequence of…
Classification of large and dense networks based on topology is very difficult due to the computational challenges of extracting meaningful topological features from real-world networks. In this paper we present a computationally tractable…
There are many methods developed to approximate a cloud of vectors embedded in high-dimensional space by simpler objects: starting from principal points and linear manifolds to self-organizing maps, neural gas, elastic maps, various types…