Relative topological complexity of a pair (Q1790227)

The topological complexity of a space \(X,\) denoted as \(\text{TC}(X)\), is defined as the Schwarz genus (or sectional category) of the free path fibration \(\pi :PX\rightarrow X\times X\), \(\alpha \mapsto (\alpha (0),\alpha (1))\) (here \(PX\) denotes the free path space of \(X\) equipped with the compact-open topology). This numerical homotopy invariant was introduced by \textit{M. Farber} in [Discrete Comput. Geom. 29 No. 2, 211--221 (2003; Zbl 1038.68130)] in order to study the motion planning problem in Robotics from a topological perspective. In the paper under review the author introduces a relative version of topological complexity. Indeed, for a pair of spaces \(X\) and \(Y\) such that \(Y\subseteq X\) the relative topological complexity of \((X,Y),\) denoted as \(TC(X,Y)\), is defined as the Schwarz genus of the fibration \(\pi :P_{X\times Y}\rightarrow X\times Y,\) \(\alpha \mapsto (\alpha (0),\alpha (1))\) where \[ P_{X\times Y}=\{\alpha \in PX:\alpha (1)\in Y\}\subseteq PX \] This invariant corresponds to the smallest number of continuous local motion planners needed for a motion planning algorithm which outputs paths from \(X\) to \(Y.\) After establishing its homotopy invariance and some estimates (basically, a dimensional upper bound and a cohomological lower bound) for \(TC(X,Y)\) the author presents some relationships with other invariants, such as L-S category and ordinary topological complexity. All this also permits to do some interesting computations. Among them we can mention the computation for pairs of complex projective spaces, pairs of spheres and pairs of wedge of spheres. The relative topological complexity is also applied to pairs of real projective spaces (giving a connection to the existence of certain axial maps) and pairs of spatial polygon spaces. In the latter case their computation is given.