Computing braid groups of graphs with applications to robot motion planning

DOI10.4310/HHA.2012.V14.N1.A8MaRDI QIDQ424856zbMATH OpenFDO

Authors Vitaliy Kurlin

Publication date 6 June 2012

Published in Homology, Homotopy and Applications (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1312.1725

zbMATH Keywords

configuration spacebraid groupmotion planning algorithm

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Graphs and abstract algebra (groups, rings, fields, etc.) (05C25) Braid groups; Artin groups (20F36) Fundamental group, presentations, free differential calculus (57M05) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Discriminantal varieties and configuration spaces in algebraic topology (55R80)

Abstract: Let $X$ be a simplicial complex with a piecewise linear function $f:XomathbbR$. The Reeb graph $Reeb(f,X)$ is the quotient of $X$, where we collapse each connected component of $f^{-1}(t)$ to a single point. Let the nodes of $Reeb(f,X)$ be all homologically critical points where any homology of the corresponding component of the level set $f^{-1}(t)$ changes. Then we can label every arc of $Reeb(f,X)$ with the Betti numbers $$ of the corresponding $d$-dimensional component of a level set. The homology labels give more information about the original complex $X$ than the classical Reeb graph. We describe a canonical embedding of a Reeb graph into a multi-page book (a star cross a line) and give a unique linear code of this book embedding.

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Cited in

(5)

• Characteristics of graph braid groups
• Presentations of graph braid groups.
• scientific article; zbMATH DE number 1744021 (Why is no real title available?)
• Geometric presentations of braid groups for particles on a graph
• Negative curvature in graph braid groups

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