相关论文: Symmetric Motion Planning
We investigate motion planning algorithms for the assembly of shapes in the \emph{tilt model} in which unit-square tiles move in a grid world under the influence of uniform external forces and self-assemble according to certain rules. We…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
Parametrized topological complexity is a homotopy invariant that represents the degree of instability of motion planning problem that involves external constraints. We consider the parametrized topological complexity in the case of…
Optimal transport provides a powerful framework for comparing measures while respecting the geometry of their support, but comes with an expensive computational cost, hindering its potential application to real world use cases. On…
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem instances. Most variants do not sample uniformly at random, and…
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…
We construct "higher" motion planners for automated systems whose space of states are homotopy equivalent to a polyhedral product space $Z(K,\{(S^{k_i},\star)\})$, e.g. robot arms with restrictions on the possible combinations of…
In this paper, we deal with the robot motion planning problem in multi-valued function theory. We first enrich the multi-homotopy studies by introducing a multi-homotopy lifting property and a multi-fibration. Then we compute both a…
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,…
In this paper, we investigate a sheaf-theoretic interpretation of stratification learning from geometric and topological perspectives. Our main result is the construction of stratification learning algorithms framed in terms of a sheaf on a…
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…
Using the notion of contiguity of simplicial maps, we adapt Farber's topological complexity to the realm of simplicial complexes. We show that, for a finite simplicial complex $K$, our discretized concept recovers the topological complexity…
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…
This paper continues the research of the author on the homology of cubical and semi-cubical sets with coefficients in systems of objects. The main result is the theorem that the homology of cubical sets with coefficients in contravariant…
We develop the properties of the $n$-th sequential topological complexity $TC_n$, a homotopy invariant introduced by the third author as an extension of Farber's topological model for studying the complexity of motion planning algorithms in…
Let X be a subcomplex of the standard CW-decomposition of the n-dimensional torus. We exhibit an explicit optimal motion planning algorithm for X. This construction is used to calculate the topological complexity of complements of general…
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''…
For a pair of spaces $X$ and $Y$ such that $Y \subseteq X$, we define the relative topological complexity of the pair $(X,Y)$ as a new variant of relative topological complexity. Intuitively, this corresponds to counting the smallest number…
In the previous paper [GLM2018], we showed that the theory of harmonic maps between Riemannian manifolds may be discretized by introducing triangulations with vertex and edge weights on the domain manifold. In the present paper, we study…
In this paper we study a new notion of category weight of homology classes developing further the ideas of E. Fadell and S. Husseini. In the case of closed smooth manifolds the homological category weight is equivalent to the cohomological…