相关论文: Motion planning in tori
We compute the Lusternik-Schnirelmann category (LS-cat) and the higher topological complexity ($TC_s$, $s\geq2$) of the "no-$k$-equal" configuration space Conf$_k(\mathbb{R},n)$. This yields (with $k=3$) the LS-cat and the higher…
The topological complexity TC(X) is a homotopy invariant which reflects the complexity of the problem of constructing a motion planning algorithm in the space X, viewed as configuration space of a mechanical system. In this paper we…
In robotics, a topological theory of motion planning was initiated by M. Farber. The multitasking motion planning problem is new and its theoretical part via topological complexity has hardly been developed, but the concrete implementations…
We study the topological complexity of work maps with respect to some subspaces of the configuration space and a workspace considered as the target set of the motion of robots. The motivation is to optimize and reduce the number of motion…
In this paper we illustrate an algorithmic procedure which allows to build projective wonderful models for the complement of a toric arrangement in a n-dimensional algebraic torus T. The main step of the construction is a combinatorial…
We study higher analogues of effective and effectual topological complexity of spaces equipped with a group action. These are $G$-homotopy invariant and are motivated by the (higher) motion planning problem of $G$-spaces for which their…
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…
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…
We present optimal motion planning algorithms which can be used in designing practical systems controlling objects moving in Euclidean space without collisions. Our algorithms are optimal in a very concrete sense, namely, they have the…
Instabilities of robot motion are caused by topological reasons. In this paper we find a relation between the topological properties of a configuration space (the structure of its cohomology algebra) and the character of instabilities,…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
We consider the problem of robot motion planning in an oriented Riemannian manifold as a topological motion planning problem in its oriented frame bundle. For this purpose, we study the topological complexity of oriented frame bundles,…
Let (X,L) be a (semi-) polarized complex projective variety and T a real torus acting holomorphically on X with moment polytope P. Given a probability density g on P we introduce a new type of Monge-Ampere measure on X, defined for singular…
An action of a group on a vector space partitions the latter into a set of orbits. We consider three natural and useful algorithmic "isomorphism" or "classification" problems, namely, orbit equality, orbit closure intersection, and orbit…
The Topological complexity a la Farber $\text{TC}(-)$ is a homotopy invariant which have interesting applications in Robotics, specifically, in the robot motion planning problem. In this work we calculate the topological complexity of the…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
We survey results on the topological complexity of classical configuration spaces of distinct ordered points in orientable surfaces and related spaces, including certain orbit configuration spaces and Eilenberg-Mac Lane spaces associated to…
We introduce a variant of Farber's topological complexity, defined for smooth compact orientable Riemannian manifolds, which takes into account only motion planners with the lowest possible "average length" of the output paths. We prove…
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…
Given any subvariety of a complex torus defined over $\mathbb{Z}$ and any positive integer $k$, we construct a finite CW complex $X$ such that the $k$-th cohomology jump locus of $X$ is equal to the chosen subvariety, and the $i$-th…