Related papers: A robot that unknots knots
Every link in the 3-sphere has a projection to the plane where the only singularities are pairwise transverse triple points. The associated diagram, with height information at each triple point, is a triple-crossing diagram of the link. We…
It is well known that any two diagrams representing the same oriented link are related by a finite sequence of Reidemeister moves O1, O2 and O3. Depending on orientations of fragments involved in the moves, one may distinguish 4 different…
Noting that cycle diagrams of permutations visually resemble grid diagrams used to depict knots and links in topology, we consider the knot (or link) obtained from the cycle diagram of a permutation. We show that the permutations which…
An unknotting operation is a local move such that any knot diagram can be transformed into a diagram of the trivial knot by a finite sequence of these operations plus some Reidemeister moves. It is known that for all $n \geq 2$ the…
We present an approach to learn fast and dynamic robot motions without exceeding limits on the position $\theta$, velocity $\dot{\theta}$, acceleration $\ddot{\theta}$ and jerk $\dddot{\theta}$ of each robot joint. Movements are generated…
The untwisting number of a knot K is the minimum number of null-homologous twists required to convert K to the unknot. Such a twist can be viewed as a generalization of a crossing change, since a classical crossing change can be effected by…
Arnold introduced invariants $J^+$, $J^-$ and $St$ for generic planar curves. It is known that both $J^+ /2 + St$ and $J^- /2 + St$ are invariants for generic spherical curves. Applying these invariants to underlying curves of knot…
It is known that each knot has a semimeander diagram (i. e. a diagram composed of two smooth simple arcs), however the number of crossings in such a diagram can only be roughly estimated. In the present paper we provide a new estimate of…
We work with a generalization of knot theory, in which one diagram is reachable from another via a finite sequence of moves if a fixed condition, regarding the existence of certain morphisms in an associated category, is satisfied for every…
We introduce a new numerical invariant of knots and links from the descending diagrams. It is considered to live between the unknotting number and the bridge number.
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
This paper explores the problem of unknotting closed braids and classical knots in mathematical knot theory. We apply evolutionary computation methods to learn sequences of moves that simplify knot diagrams, and show that this can be…
Kuperberg [Algebr. Geom. Topol. 3 (2003) 587-591] has shown that a virtual knot corresponds (up to generalized Reidemeister moves) to a unique embedding in a thichened surface of minimal genus. If a virtual knot diagram is equivalent to a…
For a knot diagram we introduce an operation which does not increase the genus of the diagram and does not change its representing knot type. We also describe a condition for this operation to certainly decrease the genus. The proof…
A weaving knot is an alternating knot whose minimal diagram is a closed braid of a lattice-like pattern. In this paper, the warping degree of a braid diagram is defined, and upper bounds of the unknotting number and the region unknotting…
New presentations of a link and a virtual link are introduced and algebraic systems on links and virtual links are constructed respectively. Based on the algebraic systems, Reduction Crossing Algorithms for them are proposed which are used…
We introduce the non-self OU sequence and the OU number for link diagrams. Using these, we give a lower bound for the number of necessary Reidemeister moves of type III between two diagrams of the same link.
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
We consider the problem of untangling a given (non-planar) straight-line circular drawing $\delta_G$ of an outerplanar graph $G=(V, E)$ into a planar straight-line circular drawing by shifting a minimum number of vertices to a new position…
We report on our success on solving the problem of untangling braids up to length 20 and width 4. We use feed-forward neural networks in the framework of reinforcement learning to train the agent to choose Reidemeister moves to untangle…