相关论文: Topological complexity of generic hyperplane arran…
We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information…
We study an elementary problem of topological robotics: rotation of a line, which is fixed by a revolving joint at a base point: one wants to bring the line from its initial position to a final position by a continuous motion in the space.…
There are several topological spaces associated to a complex hyperplane arrangement: the complement and its boundary manifold, as well as the Milnor fiber and its own boundary. All these spaces are related in various ways, primarily by a…
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…
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…
We prove that the geodesic complexity of a regular tetrahedron exceeds its topological complexity by 1 or 2. The proof involves a careful analysis of minimal geodesics on the tetrahedron.
The complexity of algorithms solving the motion planning problem is measured by a homotopy invariant TC(X) of the configuration space X of the system. Previously known lower bounds for TC(X) use the structure of the cohomology algebra of X.…
Our aim is to generalize the result that two generic complex line arrangements are equivalent. In fact for a line arrangement A we associate its defining polynomial, the product of a_ix+b_iy+c_i, so that A = (f=0). We prove that the…
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…
In this work we will review the notion of topological complexity, introduced by Michael Farber in 2003. We will use this theory of topological complexity to solve the motion planning problem of a mobile robot that navigates in the Euclidean…
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…
We determine lower bounds for the topological complexity of many planar polygon spaces mod isometry. With very few exceptions, the upper and lower bounds given by dimension and cohomology considerations differ by 1. This is true for 130 of…
The Lusternik-Schnirelmann category cat and topological complexity TC are related homotopy invariants. The topological complexity TC has applications to the robot motion planning problem. We calculate the Lusternik-Schnirelmann category and…
A facet of an hyperplane arrangement is called external if it belongs to exactly one bounded cell. The set of all external facets forms the envelope of the arrangement. The number of external facets of a simple arrangement defined by $n$…
Topological complexity is a numerical homotopy invariant that measures the instability of motion planning in a space. To study the topological complexity of non-simply connected spaces, Costa and Farber introduced a cohomology class whose…
We construct two combinatorially equivalent line arrangements in the complex projective plane such that the fundamental groups of their complements are not isomorphic. The proof uses a new invariant of the fundamental group of the…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
We use some detailed knowledge of the cohomology ring of real Grassmann manifolds $G_k(\mathbb{R}^n)$ to compute zero-divisor cup-length and estimate topological complexity of motion planning for $k$-linear subspaces in $\mathbb{R}^n$. In…
Starting from Borel's description of the mod-2 cohomology of real flag manifolds, we give a minimal presentation of the cohomology ring for semi complete flag manifolds $F_{k,m}:=F(1,\ldots,1,m)$ where $1$ is repeated $k$ times. The…
The higher topological complexity of a space $X$, $\text{TC}_r(X)$, $r=2,3,\ldots$, and the topological complexity of a map $f$, $\text{TC}(f)$, have been introduced by Rudyak and Pave\v{s}i\'{c}, respectively, as natural extensions of…