相关论文: Motion planning in tori

Long-horizon task and motion planning (TAMP) is notoriously difficult to solve, let alone optimally, due to the tight coupling between the interleaved (discrete) task and (continuous) motion planning phases, where each phase on its own is…

This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} polynomial optimization problems that can be relaxed as…

Let $X$ be a projective variety with a torus action, which for simplicity we assume to have dimension 1. If $X$ is a smooth complex variety, then the geometric invariant theory quotient $X//G$ can be identifed with the symplectic reduction…

We propose a method to compute a desingularization of a normal affine variety X endowed with a torus action in terms of a combinatorial description of such a variety due to Altmann and Hausen. This desingularization allows us to study the…

In this work, we study the motions in the region around the equilateral Lagrangian equilibrium points L4 and L5, in the framework of the Circular Planar Restricted Three-Body Problem (hereafter, CPRTBP). We design a semi-analytic approach…

We compute the topological complexity of Eilenberg-Mac Lane spaces associated to the group of automorphisms of a finitely generated free group which act by conjugation on a given basis, and to certain subgroups.

We study the Lusternik-Schnirelmann category and topological complexity of 1-dimensional spaces. We define both invariants as lengths of suitable closed filtrations, as opposed to a more common definition based on open covers. Our main…

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…

It has been observed that the very important motion planning problem of robotics mathematically speaking boils down to the problem of finding a section to the path-space fibration, raising the notion of topological complexity, as introduced…

We consider compact homogeneous spaces G/H, where G is a compact connected Lie group and H is its closed connected subgroup of maximal rank. The aim of this paper is to provide an effective computation of the universal toric genus for the…

Using the Ocneanu quantum geometry of ADE diagrams (and of other diagrams belonging to higher Coxeter-Dynkin systems), we discuss the classification of twisted partition functions for affine and minimal models in conformal field theory and…

We study the homology groups of the complement of a complexified real line arrangement with coefficients in complex rank-one local systems. Using Borel--Moore homology, we establish an algorithm computing their dimensions via the real…

In [Q. Liao et al., Commun. Math. Sci., 20(2022)], a linear-time Sinkhorn algorithm is developed based on dynamic programming, which significantly reduces the computational complexity involved in solving optimal transport problems. However,…

In this paper, we develop the theory of constrained motion spaces of robotic arms. We compute their homology groups in two cases: when the constraint is a horizontal line and when it is a smooth curve whose motion space is a smooth…

Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…

An \emph{affine subtorus} of the compact torus $T=(S^1)^n$ is a translated copy of a Lie subgroup. Given a finite collection $T_1,\ldots, T_k$ of such subtori, and a prime $p$, we describe an explicit chain complex that calculates the group…

In this paper, we present an approach for integrated task and motion planning based on an AND/OR graph network, which is used to represent task-level states and actions, and we leverage it to implement different classes of task and motion…

We investigate and analyze principles of typical motion planning algorithms. These include traditional planning algorithms, supervised learning, optimal value reinforcement learning, policy gradient reinforcement learning. Traditional…

Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…

We describe parametrised motion planning algorithms for systems controlling objects represented by points that move without collisions in an even dimensional Euclidean space and in the presence of up to three obstacles with \emph{a priori}…