Related papers: Symmetric Motion Planning
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.…
Many combinatorial optimization problems can be formulated as the search for a subgraph that satisfies certain properties and minimizes the total weight. We assume here that the vertices correspond to points in a metric space and can take…
In computer vision and medical imaging, the problem of matching structures finds numerous applications from automatic annotation to data reconstruction. The data however, while corresponding to the same anatomy, are often very different in…
Navigating mobile robots in social environments remains a challenging task due to the intricacies of human-robot interactions. Most of the motion planners designed for crowded and dynamic environments focus on choosing the best velocity to…
We give a short topological proof of coherence for categorified non-symmetric operads by using the fact that the diagrams involved form the 1-skeleton of simply connected CW complexes. We also obtain a "one-step" topological proof of Mac…
Constrained motion planning is a challenging field of research, aiming for computationally efficient methods that can find a collision-free path on the constraint manifolds between a given start and goal configuration. These planning…
The objective of constrained motion planning is to connect start and goal configurations while satisfying task-specific constraints. Motion planning becomes inefficient or infeasible when the configurations lie in disconnected regions,…
For a $G$-equivariant fibration $p \colon E\to B$, we introduce and study the invariant analogue of Cohen, Farber and Weinberger's parametrized topological complexity, called the invariant parametrized topological complexity. This notion…
We consider the problem of connected coordinated motion planning for a large collective of simple, identical robots: From a given start grid configuration of robots, we need to reach a desired target configuration via a sequence of…
The gauge symmetry of classical general relativity under space-time diffeomorphisms implies that any path integral quantization which can be interpreted as a sum over space-time geometries, gives rise to a formal invariant of smooth…
Looking at the cartesian product X \times X of a topological space X with itself, a natural map to be considered on that object is the involution that interchanges the coordinates, i.e. that maps (x, y) to (y, x). The so-called 'symmetric…
We give the first quasipolynomial upper bound $\phi n^{\text{polylog}(n)}$ for the smoothed complexity of the SWAP algorithm for local Graph Partitioning (also known as Bisection Width), where $n$ is the number of nodes in the graph and…
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 present a framework for learning to guide geometric task and motion planning (GTAMP). GTAMP is a subclass of task and motion planning in which the goal is to move multiple objects to target regions among movable obstacles. A standard…
We give simple upper bounds for rational sectional category and use them to compute invariants of the type of Farber's topological complexity of rational spaces. In particular we show that the sectional category of formal morphisms reaches…
Image feature matching plays a vital role in many computer vision tasks. Although many image feature detection and matching techniques have been proposed over the past few decades, it is still time-consuming to match feature points in two…
The sum-of-squares hierarchy of semidefinite programs has become a common tool for algorithm design in theoretical computer science, including problems in quantum information. In this work we study a connection between a Hermitian version…
Instabilities of robot motion are caused by topological reasons. In this paper we find a relation between the topological properties of a configuration space (the structure of its cohomology algebra) and the character of instabilities,…
This paper introduces the \emph{$d$-distance $b$-matching problem}, in which we are given a bipartite graph $G=(S,T;E)$ with $S=\{s_1,\dots,s_n\}$, a weight function on the edges, an integer $d\in\mathbb{Z}_+$ and a degree bound function…
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex…