相关论文: Symmetric Motion Planning

Collision checking is a computational bottleneck in motion planning, requiring lazy algorithms that explicitly reason about when to perform this computation. Optimism in the face of collision uncertainty minimizes the number of checks…

In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…

We use a well known problem in discrete and computational geometry (partitions of measures by $k$-fans) as a motivation and as a point of departure to illustrate many aspects, both theoretical and computational, of the problem of…

We provide an explicit realization of the Corner Proposal for Quantum Gravity in the case of spherically symmetric spacetimes in four dimensions, or equivalently, two-dimensional dilaton gravity. We construct coherent states of the Quantum…

In the context of state-space models, skeleton-based smoothing algorithms rely on a backward sampling step which by default has a $\mathcal O(N^2)$ complexity (where $N$ is the number of particles). Existing improvements in the literature…

Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…

We express the rational cohomology of the unordered configuration space of a compact oriented manifold as a representation of its mapping class group in terms of a weight-decomposition of the rational cohomology of the mapping space from…

We establish a rigorous geometric framework for quantum fields on a stochastic gravitational background. Starting from a master partition function that averages over metric fluctuations, we define a matter amplitude $\mathcal{K}$, whose…

In this work, we explore how the geometry and topology of the underlying manifold shape the synchronization phase transition of a system. To do so, we extend the Kuramoto-Sakaguchi model from spheres to compact, connected, orientable, and…

We uncover the connection between the Fitness-Complexity algorithm, developed in the economic complexity field, and the Sinkhorn-Knopp algorithm, widely used in diverse domains ranging from computer science and mathematics to economics.…

We develop a geometric framework that characterizes the synchronization problem --- the problem of consistently registering or aligning a collection of objects. The theory we formulate characterizes the cohomological nature of…

Despite the recent progress in genome sequencing and assembly, many of the currently available assembled genomes come in a draft form. Such draft genomes consist of a large number of genomic fragments (scaffolds), whose order and/or…

The concept of asymmetric copulas is revisited and is made more precise. We give a rigorous topological argument for opportunity to define asymmetry measures defined recently by K.F Siburg [6] through exhibiting at least three ordered…

This paper provides an introduction to equivariant cohomology and homology using the approach of Goresky, Kottwitz, and MacPherson. When a group G acts suitably on a variety X, the equivariant cohomology of X can be computed using the…

Supervised learning has been very successful for automatic segmentation of images from a single scanner. However, several papers report deteriorated performances when using classifiers trained on images from one scanner to segment images…

Group equivariance has emerged as a valuable inductive bias in deep learning, enhancing generalization, data efficiency, and robustness. Classically, group equivariant methods require the groups of interest to be known beforehand, which may…

The graph isomorphism problem is theoretically interesting and also has many practical applications. The best known classical algorithms for graph isomorphism all run in time super-polynomial in the size of the graph in the worst case. An…

For a bar-joint framework $(G,p)$, a subgroup $\Gamma$ of the automorphism group of $G$, and a subgroup of the orthogonal group isomorphic to $\Gamma$, we introduce a symmetric averaging map which produces a bar-joint framework on $G$ with…

We show that the topological complexity of an aspherical space $X$ is bounded below by the cohomological dimension of the direct product $A\times B$, whenever $A$ and $B$ are subgroups of $\pi_1(X)$ whose conjugates intersect trivially. For…

We present a number of breakthroughs for coordinated motion planning, in which the objective is to reconfigure a swarm of labeled convex objects by a combination of parallel, continuous, collision-free translations into a given target…