Related papers: On the complexity of parametrized motion planning …
We use a well known problem in discrete and computational geometry (partitions of measures by $k$-fans) as a motivation and as a point of departure to illustrate many aspects, both theoretical and computational, of the problem of…
Finite-order invariants of knots in arbitrary 3-manifolds (including non-orientable ones) are constructed and studied by methods of the topology of discriminant sets. Obstructions to the integrability of admissible weight systems to…
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem instances. Most variants do not sample uniformly at random, and…
The motivic nearby fiber is an invariant obtained from degenerating a complex variety over a disc. It specializes to the Euler characteristic of the original variety but also contains information on the variation of Hodge structure…
We describe and implement a randomized algorithm that inputs a polyhedron, thought of as the space of states of some automated guided vehicle $\mathcal{R}$, and outputs an explicit system of piecewise linear motion planners for…
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 define and study an equivariant version of Farber's topological complexity for spaces with a given compact group action. This is a special case of the equivariant sectional category of an equivariant map, also defined in this paper. The…
A topological theory initiated recently by the author uses methods of algebraic topology to estimate numerically the character of instabilities arising in motion planning algorithms. The present paper studies random motion planning…
We compute the cohomology of the right generalised projective Stiefel manifolds and use it to find bounds on the rank of the complementary bundle for certain vector bundles. Further the cohomology computations are also used to find bounds…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
The main goal of this article is to construct some geometric invariants for the topology of the set $\mathcal{F}$ of flat connections on a principal $G$-bundle $P\,\longrightarrow\, M$. Although the characteristic classes of principal…
The embedding problem is to decide, given an ordered pair of structures, whether or not there is an injective homomorphism from the first structure to the second. We study this problem using an established perspective in parameterized…
When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…
We define a range of new coarse geometric invariants based on various graph-theoretic measures of complexity for finite graphs, including: treewidth, pathwidth, cutwidth and bandwidth. We prove that, for bounded degree graphs, these…
We study an elementary problem of topological robotics: rotation of a line, which is fixed by a revolving joint at a base point: one wants to bring the line from its initial position to a final position by a continuous motion in the space.…
One of basic difficulties of machine learning is handling unknown rotations of objects, for example in image recognition. A related problem is evaluation of similarity of shapes, for example of two chemical molecules, for which direct…
We adapt algorithms for resolving the singularities of complex algebraic varieties to prove that the natural map of homology theories from complex bordism to the bordism theory of complex derived orbifolds splits. In equivariant stable…
Using the notion of contiguity of simplicial maps, we adapt Farber's topological complexity to the realm of simplicial complexes. We show that, for a finite simplicial complex $K$, our discretized concept recovers the topological complexity…
We use the tropical geometry approach to compute absolute and relative Gromov-Witten invariants of complex surfaces which are $\CC P^1$-bundles over an elliptic curve. We also show that the tropical multiplicity used to count curves can be…
We construct algorithms and topological invariants that allow us to distinguish the topological type of a surface, as well as functions and vector fields for their topological equivalence. In the first part (arXiv:2501.15657), we discused…