相关论文: Topological complexity of motion planning

We use an alternative definition of topological complexity to show that the topological complexity of the mapping telescope of a sequence $X_1\rightarrow X_2\rightarrow X_3\rightarrow...$ is bounded above by $2max{TC(X_i); i=1,2,...}$.

This paper explores topological complexity in the finite equivariant setting. We first define and study an equivariant version of Tanaka's combinatorial complexity for finite topological spaces. We explore the relationships between this…

We study the geodesic complexity of the ordered and unordered configuration spaces of graphs in both the $\ell_1$ and $\ell_2$ metrics. We determine the geodesic complexity of the ordered two-point $\varepsilon$-configuration space of any…

We exhibit an algorithm with continuous instructions for two robots moving without collisions on a track shaped as a wedge of three circles. We show that the topological complexity of the configuration space associated with this problem is…

We present a new approach to equivariant version of the topological complexity, called a symmetric topological complexity. It seems that the presented approach is more adequate for the analysis of an impact of symmetry on the the motion…

The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning…

We answer the following question posed by Lechuga: Given a simply-connected space $X$ with both $H_*(X,\qq)$ and $\pi_*(X)\otimes \qq$ being finite-dimensional, what is the computational complexity of an algorithm computing the cup-length…

This paper addresses planning and control of robot motion under uncertainty that is formulated as a continuous-time, continuous-space stochastic optimal control problem, by developing a topology-guided path integral control method. The path…

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…

We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…

This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a {finite-memory} control policy, such that a high-level task specified as a Linear Temporal Logic (LTL) formula is satisfied…

Constrained motion planning is a challenging field of research, aiming for computationally efficient methods that can find a collision-free path on the constraint manifolds between a given start and goal configuration. These planning…

When using sampling-based motion planners, such as PRMs, in configuration spaces, it is difficult to determine how many samples are required for the PRM to find a solution consistently. This is relevant in Task and Motion Planning (TAMP),…

We define a new version of Topological Complexity (TC) of a space, denoted as $\text{dTC}$, which, we think, fits better for motion planning for some autonomous systems. Like Topological complexity, \text{dTC} is also a homotopy invariant.…

We introduce the geodesic complexity of a metric space, inspired by the topological complexity of a topological space. Both of them are numerical invariants, but, while the TC only depends on the homotopy type, the GC is an invariant under…

We prove a lower bound for the topological complexity, in the sense of Smale, of the problem of finding a flex point on a cubic plane curve. The key is to bound the Schwarz genus of a cover associated to this problem. We also show that our…

This research is motivated by studying image processing algorithms through a topological lens. The images we focus on here are those that have been segmented by digital Jordan curves as a means of image compression. The algorithms of…

When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…

The notion of effective topological complexity, introduced by B{\l}aszczyk and Kaluba, deals with using group actions in the configuration space in order to reduce the complexity of the motion planning algorithm. In this article we focus on…

Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…