相关论文: Motion planning in tori

Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…

Let $W \subset \mathbb{R}^2$ be a planar polygonal environment with $n$ vertices, and let $[k] = \{1,\ldots,k\}$ denote $k$ unit-square robots translating in $W$. Given source and target placements $s_1, t_1, \ldots, s_k, t_k \in W$ for…

We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environment. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion)…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

Let X be a smooth projective variety with the action of the n dimensional torus. The article describes the moduli space of torus equivariant morphisms from stable toric varieties into X as the inverse limit of the GIT quotients of X and…

Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints…

Let X be a smooth complete toric variety. We describe the Altmann-Ilten-Vollmert equivariant deformations of toric varieties in the language of Cox rings. More precisely we construct one parameters families of deformations of X, such that…

Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…

We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the…

We present a method for computing invariant tori of dimension greater than one. The method uses a single short trajectory of a dynamical system without any continuation or initial guesses. No preferred coordinate system is required, meaning…

Knot concordance plays a crucial role in the low dimensional topology. We propose a very elementary techniques which allows one to construct a lot of sliceness obstructions for knots in the full torus. Our approach deals with group…

In this article we study the higher topological complexity ${\sf TC}_r(X)$ in the case when $X$ is an aspherical space, $X=K(\pi, 1)$ and $r\ge 2$. We give a characterisation of ${\sf TC}_r(K(\pi, 1))$ in terms of classifying spaces for…

We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also…

This paper explores topological complexity in the finite equivariant setting. We first define and study an equivariant version of Tanaka's combinatorial complexity for finite topological spaces. We explore the relationships between this…

The homotopy type of the complement manifold of a complexified toric arrangement has been investigated by d'Antonio and Delucchi in a paper that shows the minimality of such topological space. In this work we associate to a given toric…

In this note we study linear systems on complete toric varieties $X$ with an invariant point, whose orbit under the action of the automorphism group of $X$ contains the dense torus $T$ of $X$. We give a characterization of such varieties in…

Multi-marginal optimal transport (MOT) is a generalization of optimal transport to multiple marginals. Optimal transport has evolved into an important tool in many machine learning applications, and its multi-marginal extension opens up for…

In this present paper we study geometry of compact complex manifolds equipped with a \emph{maximal} torus $T=(S^1)^k$ action. We give two equivalent constructions providing examples of such manifolds given a simplicial fan $\Sigma$ and a…

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…

Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…