Related papers: Motion planning in tori
We define a new version of Topological Complexity (TC) of a space, denoted as $\text{dTC}$, which, we think, fits better for motion planning for some autonomous systems. Like Topological complexity, \text{dTC} is also a homotopy invariant.…
We calculate the higher topological complexity TC$_s$ for the complements of reflection arrangements, in other words for the pure Artin type groups of all finite complex reflection groups. In order to do that we introduce a simple…
Integrated task and motion planning (TAMP) is desirable for generalized autonomy robots but it is challenging at the same time. TAMP requires the planner to not only search in both the large symbolic task space and the high-dimension motion…
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…
In this paper we generalize the discrete r-homotopy to the discrete (s, r)-homotopy. Then by this notion, we introduce the discrete motion planning for robots which can move discreetly. Moreover, in this case the number of motion planning,…
A simplicial complex L on n vertices determines a subcomplex T_L of the n-torus, with fundamental group the right-angled Artin group G_L. Given an epimorphism \chi\colon G_L\to \Z, let T_L^\chi be the corresponding cover, with fundamental…
We consider the covering map $\pi:\mathbb{C}^n\to \mathbb{T}$ of a compact complex torus. Given an algebraic variety $X\subseteq \mathbb{C}^n$ we describe the topological closure of $\pi(X)$ in $\mathbb T$. We obtain a similar description…
The maximally compact representation of a regular orbit is in terms of its action-angle variables. Computing the map between a trajectory's Cartesian coordinates and its action-angle variables is called torus construction. This article…
In this short note we observe that the higher topological complexity of an iterated connected sum of real projective spaces is maximal possible. Unlike the case of regular TC, the result is accessible through easy mod 2 zero-divisor…
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…
Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…
For a pair of spaces $X$ and $Y$ such that $Y \subseteq X$, we define the relative topological complexity of the pair $(X,Y)$ as a new variant of relative topological complexity. Intuitively, this corresponds to counting the smallest number…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…
In the present paper, we examine in detail the method of "graph compactifications" of topological groups. The graph and Ellis methods of constructing proper compactifications of topological groups are applied for the investigation of…
Computing topological invariants of 3-manifolds is generally intractable, yet specialized algebraic structures can enable efficient algorithms. For Witten-Reshetikhin-Turaev (WRT) invariants of torus bundles, we exploit the non-commutative…
Coadjoint orbits for the group SO(6) parametrize Riemannian G-reductions in six dimensions, and we use this correspondence to interpret symplectic fibrations between these orbits, and to analyse moment polytopes associated to the standard…
The configuration space C^n of unordered n-tuples of distinct points on a torus T^2 is a non-singular complex algebraic variety. We study holomorphic self-maps of C^n and prove that for n>4 any such map F either carries the whole of C^n…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
The dynamical system on T^2 which is a group extension over an irrational rotation on T^1 is investigated. The criterion when the extension is minimal, a system of order 2 and when the maximal equicontinuous factor is the irrational…