相关论文: A Topologist's View of Kinematic Maps and Manipula…
The higher topological complexity of a space $X$, $\text{TC}_r(X)$, $r=2,3,\ldots$, and the topological complexity of a map $f$, $\text{TC}(f)$, have been introduced by Rudyak and Pave\v{s}i\'{c}, respectively, as natural extensions of…
The topological complexity ${\sf TC}(X)$ is a homotopy invariant of a topological space $X$, motivated by robotics, and providing a measure of the navigational complexity of $X$. The topological complexity of a connected sum of real…
Many mechanical systems have configuration spaces that admit symmetries. Mathematically, such symmetries are modelled by the action of a group on a topological space. Several variations of topological complexity have emerged that take…
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…
Loops are pervasive in robotics problems, appearing in mapping and localization, where one is interested in finding loop closure constraints to better approximate robot poses or other estimated quantities, as well as planning and…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
We consider the problem of robot motion planning in an oriented Riemannian manifold as a topological motion planning problem in its oriented frame bundle. For this purpose, we study the topological complexity of oriented frame bundles,…
A central question in dynamics is whether the topology of a system determines its geometry. This is known as rigidity. Under mild topological conditions rigidity holds for many classical cases, including: Kleinian groups, circle…
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,…
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…
We fully generalize a previously-developed computational geometry tool [1] to perform large-scale simulations of arbitrary two-dimensional faceted surfaces $z = h(x,y)$. Our method uses a three-component facet/edge/junction storage model,…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
In this paper we discover a connection between the Milnor fibration theory and current research trends in topological robotics. The configuration space and workspace are often described as subspaces of some Euclidean spaces. The work map is…
The topological complexity TC(X) is a homotopy invariant which reflects the complexity of the problem of constructing a motion planning algorithm in the space X, viewed as configuration space of a mechanical system. In this paper we…
We define a simpler notion of symmetric topological complexity more ad hoc to the motion planning problem which was the original motivation for the definition of topological complexity. This is a homotopy invariant that we call…
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…
We compute the higher topological complexity of ordered configuration spaces of orientable surfaces, thus extending Cohen-Farber's description of the ordinary topological complexity of those spaces.
In the study of holomorphic maps, the term "rigidity" refers to certain types of results that give us very specific information about a general class of holomorphic maps owing to the geometry of their domains or target spaces. Under this…
We introduce and study the proper topological complexity of a given configuration space, a version of the classical invariant for which we require that the algorithm controlling the motion is able to avoid any possible choice of ``unsafe''…
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,…