相关论文: Linear Pentapods with a Simple Singularity Variety

Robot Coverage Path planning (i.e., provide full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal is to provide nearly full coverage while also minimize…

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…

A bar-joint framework $(G,p)$ is the combination of a finite simple graph $G=(V,E)$ and a placement $p:V\rightarrow \mathbb{R}^d$. The framework is rigid if the only edge-length preserving continuous motions of the vertices arise from…

The quantum phase diagram for a finite $3$-level system in the $\Lambda$ configuration, interacting with a two-mode electromagnetic field in a cavity, is determined by means of information measures such as fidelity, fidelity susceptibility…

We study the fixed singularities imposed on members of a linear system of surfaces in P^3_C by its base locus Z. For a 1-dimensional subscheme Z \subset P^3 with finitely many points p_i of embedding dimension three and d >> 0, we determine…

Assume you are given a finite configuration $\Gamma$ of disjoint rectifiable Jordan curves in $\mathbb{R}^n$. The Plateau-Douglas problem asks whether there exists a minimizer of area among all compact surfaces of genus at most $p$ which…

Let $\Gamma$ be a triangulation of a connected closed $2$-dimensional (not necessarily orientable) surface. Using zigzags (closed left-right paths), for every face of $\Gamma$ we define the $z$-monodromy which acts on the oriented edges of…

A unique sink orientation (USO) is an orientation of the hypercube graph with the property that every face has a unique sink. A number of well-studied problems reduce in strongly polynomial time to finding the global sink of a USO; most…

Shear bands are narrow zones of intense shear observed during plastic deformations of metals at high strain rates. Because they often precede rupture, their study attracted attention as a mechanism of material failure. Here, we aim to…

This expository article describes applications of topological configuration spaces to the control of robotic systems. In particular, we review recent work by the authors on configuration spaces of graphs. These are lovely spaces: we show…

We adapt linear programming methods from sphere packings to closed hyperbolic surfaces and obtain new upper bounds on their systole, their kissing number, the first positive eigenvalue of their Laplacian, the multiplicity of their first…

Centipede-like robots offer unique locomotion advantages due to their small cross-sectional area for accessing confined spaces, and their redundant legs enhance robustness in cluttered environments such as search-and-rescue and pipe…

Using results on the topology of moduli space of polygons [Jaggi, 92; Kapovich and Millson, 94], it can be shown that for a planar robot arm with $n$ segments there are some values of the base-length, $z$, at which the configuration space…

The Eckardt hypersurface in $\mathbb{P}^{19}$ parameterizes smooth cubic surfaces with an Eckardt point, which is a point common to three of the $27$ lines on a smooth cubic surface. We describe the cubic surfaces lying on the singular…

We describe symmetry structure of a general singular theory (theory with constraints in the Hamiltonian formulation), and, in particular, we relate the structure of gauge transformations with the constraint structure. We show that any…

Consider a set of $n$ simple autonomous mobile robots (asynchronous, no common coordinate system, no identities, no central coordination, no direct communication, no memory of the past, non-rigid, deterministic) initially in distinct…

We present a multi-phase design parameterization to obtain optimized heterogeneous lattice structures. The 3D domain is discretized into a cubical grid wherein each cube has eight distinct unit cell types or phases. When all phases are…

We present an efficient algorithm for computing the closest singular configuration to each non-singular pose of a 3-RPR planar manipulator performing a 1-parametric motion. By considering a 3-RPR manipulator as a planar framework, one can…

We give both efficient algorithms and hardness results for reconfiguring between two connected configurations of modules in the hexagonal grid. The reconfiguration moves that we consider are "pivots", where a hexagonal module rotates around…

The target space M for the sigma-model appearing in theories with p-branes is considered. It is proved that M is a homogeneous space G/H. It is symmetric if and only if the U-vectors governing the sigma-model metric are either coinciding or…