相关论文: Finding topology in a factory: configuration space…
Configuration spaces of distinct labeled points on the plane are of practical relevance in designing safe control schemes for Automated Guided Vehicles (robots) in industrial settings. In this announcement, we consider the problem of the…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
Linkages are mechanical devices constructed from rigid bars and freely rotating joints studied both for their utility in engineering and as mathematical idealizations in a number of physical systems. Recently, there has been a resurgence of…
In this paper we study the homology and cohomology of confguration spaces of two distinct particles on a graph. Our main tool is intersection theory for cycles in graphs. We obtain an explicit description of the cohomology algebra of the…
Computational topology is an area that revisits topological problems from an algorithmic point of view, and develops topological tools for improved algorithms. We survey results in computational topology that are concerned with graphs drawn…
Given a finite graph G and a topological space Z, the graphical configuration space Conf(G, Z) is the space of functions V(G) -> Z so that adjacent vertices map to distinct points. We provide a homotopy decomposition of Conf(G, X x Y) in…
These expository notes are dedicated to the study of the topology of configuration spaces of manifolds. We give detailed computations of many invariants, including the fundamental group of the configuration spaces of $\mathbb{R}^2$, the…
Configuration spaces form a rich class of topological objects which are not usually presented to an undergraduate audience. Our aim is to present configuration spaces in a manner accessible to the advanced undergraduate. We begin with a…
We study configuration spaces of framed points on oriented closed smooth manifolds. Such configuration spaces admit natural actions of the framed little discs operads, that play an important role in the study of embedding spaces of…
We determine the topological complexity of unordered configuration spaces on almost all punctured surfaces (both orientable and non-orientable). We also give improved bounds for the topological complexity of unordered configuration spaces…
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…
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…
We investigate an algebraic problem related to the determination of the fundamental group of a class of spaces of configurations on surfaces. The configuration spaces are spaces of points grouped into colors. Whether two points are allowed…
This paper continues the investigation of the configuration space of two distinct points on a graph. We analyze the process of adding an additional edge to the graph and the resulting changes in the topology of the configuration space. We…
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…
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…
The unordered configuration space of $n$ points on a graph $\Gamma,$ denoted here by $UC^n(\Gamma),$ can be viewed as the space of all configurations of $n$ unlabeled robots on a system of one-dimensional tracks, which is interpreted as a…
As countless examples show, it can be fruitful to study a sequence of complicated objects all at once via the formalism of generating functions. We apply this point of view to the homology and combinatorics of orbit configuration spaces:…
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…
Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…