相关论文: A Topologist's View of Kinematic Maps and Manipula…
Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which is necessary for…
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…
This note presents an approach to studying the iterates of a mapping whose restriction to the complement of a finite set is continuous and open. The main examples to which the approach can be applied are piecewise monotone mappings defined…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
The complexity of algorithms solving the motion planning problem is measured by a homotopy invariant TC(X) of the configuration space X of the system. Previously known lower bounds for TC(X) use the structure of the cohomology algebra of X.…
We present two models for the space of knots which have endpoints at fixed boundary points in a manifold with boundary, one model defined as an inverse limit of spaces of maps between configuration spaces and another which is cosimplicial.…
In this work we will review the notion of topological complexity, introduced by Michael Farber in 2003. We will use this theory of topological complexity to solve the motion planning problem of a mobile robot that navigates in the Euclidean…
Although it is unambiguously agreed that structure plays a fundamental role in shaping the dynamics of complex systems, this intricate relationship still remains unclear. We investigate a general computational transformation by which we can…
We use conformal maps to study a free boundary problem for a two-fluid electromechanical system, where the interface between the fluids is determined by the combined effects of electrostatic forces, gravity and surface tension. The free…
Sequential parametrized topological complexity is a numerical homotopy invariant of a fibration, which arose in the robot motion planning problem with external constraints. In this paper, we study sequential parametrized topological…
We introduce a bivariate version of topological complexity, $\mathrm{TC}(f,g)$, associated with two continuous maps $f\colon X\to Z$ and $g\colon Y\to Z$. This invariant measures the minimal number of continuous motion planning rules…
Complex patterns generated by the time evolution of a one-dimensional digitalized coupled map lattice are quantitatively analyzed. A method for discerning complexity among the different patterns is implemented. The quantitative results…
By a fixed continuous map from a $3$-space to itself, a knot in the $3$-space may be mapped to another knot in the $3$-space. We analyze possible knot types of them. Then we map a knot repeatedly by a fixed continuous map and analyze…
The topological (resp. geodesic) complexity of a topological (resp. metric) space is roughly the smallest number of continuous rules required to choose paths (resp. shortest paths) between any points of the space. We prove that the geodesic…
The study of topological information of spatial objects has for a long time been a focus of research in disciplines like computational geometry, spatial reasoning, cognitive science, and robotics. While the majority of these researches…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
We introduce and study the notion of a directional complexity and entropy for maps of degree 1 on the circle. For piecewise affine Markov maps we use symbolic dynamics to relate this complexity to the symbolic complexity. We apply a…
We use some detailed knowledge of the cohomology ring of real Grassmann manifolds $G_k(\mathbb{R}^n)$ to compute zero-divisor cup-length and estimate topological complexity of motion planning for $k$-linear subspaces in $\mathbb{R}^n$. In…
We give new lower bounds for the (higher) topological complexity of a space, in terms of the Lusternik-Schnirelmann category of a certain auxiliary space. We also give new lower bounds for the rational topological complexity of a space, and…
Let $f$ be a piecewise continuous and monotonic map on the interval with at most finitely many discontinuities and turning points. In this paper we study properties about this class of maps and show its main difference from the continuous…