Related papers: Configuration spaces and braid groups on graphs in…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
Given a graph $G$, a configuration space of $G$ can be thought of as the set of all possible configurations of "robots" which can move throughout $G$, subject to some constraints. We introduce a type of configuration space which we call…
Using the ordered analogue of Farley-Sabalka's discrete gradient field on the configuration space of a graph, we unravel a levelwise behavior of the generators of the pure braid group on a tree. This allows us to generalize Farber's…
We give a necessary and sufficient condition for a graph to have a right-angled Artin group as its braid group for braid index $\ge 5$. In order to have the necessity part, graphs are organized into small classes so that one of homological…
We study Cayley configuration spaces of a class of 1 degree-of-freedom linkages (graphs with specified edge lengths), obtained by dropping an edge from a tree-decomposable graph. The class includes well-known mechanisms based on the…
Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…
The n-string braid group of a graph X is defined as the fundamental group of the n-point configuration space of the space X. This configuration space is a finite dimensional aspherical space. A. Abrams and R. Ghrist have conjectured that…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
The configuration space of the mechanism of a planar robot is studied. We consider a robot which has $n$ arms such that each arm is of length 1+1 and has a rotational joint in the middle, and that the endpoint of the $k$-th arm is fixed to…
Hard disks systems are often considered as prototypes for simple fluids. In a statistical mechanics context, the hard disk configuration space is generally quotiented by the action of various symmetry groups. The changes in the topological…
Quantum gates built out of braid group elements form the building blocks of topological quantum computation. They have been extensively studied in $SU(2)_k$ quantum group theories, a rich source of examples of non-Abelian anyons such as the…
Many disciplines of science and engineering deal with problems related to compositions, ranging from chemical compositions in materials science to portfolio compositions in economics. They exist in non-Euclidean simplex spaces, causing many…
We show that the configuration space of four unordered points in $\mathbb{C}$ with barycenter 0 is isomorphic to the space of triples $(E,Q,\omega)$, where $E$ is an elliptic curve, $Q\in E^\circ$ a nonzero point, and $\omega$ a nonzero…
Topological order in two-dimensional systems is studied by combining the braid group formalism with a gauge invariance analysis. We show that flux insertions (or large gauge transformations) pertinent to the toroidal topology induce…
We give formulae for the first homology of the $n$-braid group and the pure 2-braid group over a finite graph in terms of graph theoretic invariants. As immediate consequences, a graph is planar if and only if the first homology of the…
The topological complexity TC(X) is a numerical homotopy invariant of a topological space X which is motivated by robotics and is similar in spirit to the classical Lusternik-Schnirelmann category of X. Given a mechanical system with…
We study the large-scale geometry of graph braid groups $\mathbb{B}_n(\mathsf{\Gamma})$, viewed as the fundamental groups of discrete configuration spaces $UD_n(\mathsf{\Gamma})$, which are special cube complexes in the sense of…
We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
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…