Invitation to topological robotics
Betti numberscohomology algebraconfiguration spaceequivariant Morse theoryEuler characteristicfoliationLusternik-Schnirelmann categorymechanical linkagenavigational complexityroboticsSchwarz genustopological complexity
Discriminantal varieties and configuration spaces in algebraic topology (55R80) Research exposition (monographs, survey articles) pertaining to manifolds and cell complexes (57-02) Critical points and critical submanifolds in differential topology (57R70) Abstract critical point theory (Morse theory, Lyusternik-Shnirel'man theory, etc.) in infinite-dimensional spaces (58E05) Artificial intelligence for robotics (68T40) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)
This book is mostly about a number of interesting subspaces of \((E^m)^n\), thought of as the space of collections (configurations when the points are disjoint) of \(n\) points in \(m\)-space. Of particular interest are the cases \(m=2\) and \(m=3\). The subspaces are generally defined by some set of metric restrictions on the points. The first chapter focuses on the case where \(m=2\) and the \(n\) points are the vertices of a (possibly singular or degenerate) polygon whose sides are fixed in length. Theorem 1.7 from this chapter describes explicitly how the vector \(l\) of lengths of the sides of the polygon determines the Betti numbers (the Poincaré polynomial) of this space, \(M_l\), whose diffeomorphism class incidentally is independent of permutations of the side lengths. The natural involution of reflection in the \(x\)-axis plays a role in the equivariant Morse theory which is used in the proof of 1.7. The conditions under which the graded isomorphism class of the cohomology algebra of \(M_l\) determines \(l\) are also studied in this chapter along with ``random linkages in the cases \(m=2\) and \(m=3\). Chapter 2 is concerned with the configuration spaces of \(n\) distinct and indistinguishable points in a finite simplicial polyhedron, denoted \(X\). These spaces arise in the study of collision avoidance in the control of robots. If one forms a power series (the Euler-Gal series) in \(t\) with the coefficient of \(t^n\) being the Euler characteristic of the space of \(n\) indistinguishable points in \(X\), then one has Theorem 2.1 which states that this power series is in fact a rational function \(P(t)/Q(t)\). In addition the constant terms of \(P\) and \(Q\) are 1, and the degree of \(P-\) the degree of \(Q\) is the Euler characteristic of \(X\). Various implications of this theorem are drawn and the behavior of the Euler-Gal series with respect to the Grothendieck ring determined. Chapter 3 is entirely devoted to a proof (mainly due to \textit{R. Connelly, E. Demaine} and \textit{G. Rote} in [Discrete Comput. Geom. 30, 205--239 (2003; Zbl 1046.52016)]) of a solution to the Carpenter's Rule problem. This problem asks whether a polygonal arc in the plane can be straightened without changing side lengths or intersecting sides, i.e. through a homotopy which maintains the polygonal and non-singular character of the arc and maintains the side lengths as well. The answer, as is shown here, is yes it can. The last chapter is concerned with the actual algorithms and programs for moving in the spaces studied, that is for moving from one configuration to another without leaving the space. Such motions are studied in some detail as sections of the (fiber) map of the path space to the endpoints of the motion. Notions of domains of continuity and complexity related to the Schwarz genus and the Lusternik-Schnirelmann category play a central role in the discussion and results. Certain cohomology operations are utilized to calculate topological complexity, especially for the case of Lens spaces.
- Symmetric topological complexity of projective and Lens spaces
- Topology of configuration space of two particles on a graph. I.
- Symplectic matrices with predetermined left eigenvalues
- Topology and the robot arm
- Manifold properties of planar polygon spaces
- The configuration space of \(n\)-tuples of equiangular unit vectors for \(n = 3\), \(4\), and \(5\)
- Topological complexity of the Klein bottle
- On topological complexity of non-orientable surfaces
- On the area of constrained polygonal linkages
- Topological complexity and efficiency of motion planning algorithms
- An upper bound for topological complexity
- Polygons with prescribed edge slopes: configuration space and extremal points of perimeter
- Oriented robot motion planning in Riemannian manifolds
- Higher topological complexity of aspherical spaces
- Foreword to special issue
- On the level set of a function with degenerate minimum point
- The geometry of configuration spaces for closed chains in two and three dimensions
- Relative topological complexity of a pair
- The realizable extension problem and the weighted graph \((K _{3,3}, l)\)
- Geometry and dynamics of planar linkages
- Stable comparison of multidimensional persistent homology groups with torsion
- Topological complexity of motion planning in projective product spaces
- Homology of moduli spaces of linkages in high-dimensional Euclidean space
- The geodesic complexity of \(n\)-dimensional Klein bottles
- Higher dimensional simplicial complexity
- Polytopal Bier spheres and Kantorovich-Rubinstein polytopes of weighted cycles
- Bidirectional sequential motion planning
- Spherical complexities with applications to closed geodesics
- On singularities of real algebraic sets and applications to kinematics
- On the LS-category and topological complexity of projective product spaces
- On the sectional category of subgroup inclusions and Adamson cohomology theory
- Homotopic distance and generalized motion planning
- Relative LS categories and higher topological complexities of maps
- Routing by matching on convex pieces of grid graphs
- On Lusternik-Schnirelmann category and topological complexity of non-k-equal manifolds
- On the topological complexity of maps
- The Borsuk-Ulam theorem for planar polygon spaces
- Topological complexity of symplectic manifolds
- On LS-category and topological complexity of some fiber bundles and Dold manifolds
- The moment polytope of the abelian polygon space
- Geodesic complexity of motion planning
- Higher homotopic distance
- Coulomb control of polygonal linkages
- On higher analogs of topological complexity
- The topological complexity of the free product
- The Euler characteristic of the regular spherical polygon spaces
- The configuration space of regular spherical even polygons
- The topological type of equilateral and almost equiangular polygon spaces
- Directed topological complexity
- Pair component categories for directed spaces
- Functorial invariants of trees and their cones
- Higher analogs of simplicial and combinatorial complexity
- Bredon cohomology and robot motion planning
- Configuration spaces of graphs with certain permitted collisions
- Point charges and polygonal linkages
- Topological complexity of some planar polygon spaces
- Centered configurations of open linkages
- Critical configurations of planar multiple penduli
- Topology of random linkages
- Universality theorems for linkages in homogeneous surfaces
- Relative topological complexity and configuration spaces
- Higher topological complexities of real Grassmannians and semi-complete real flag manifolds
- Generating series of the classes of exotic unordered configuration spaces
- On the rational topological complexity of coformal elliptic spaces
- Simplicial and combinatorial versions of higher symmetric topological complexity
- Topological duality in humanoid robot dynamics
- Topological complexity of spatial polygon spaces
- Exotic equilibria of Harary graphs and a new minimum degree lower bound for synchronization
- The topological complexity and the homotopy cofiber of the diagonal map for non-orientable surfaces
- The topology of spaces of polygons
- On the zero-divisor-cup-length of spaces of oriented isometry classes of planar polygons
- Topological complexity of wedges and covering maps
- scientific article; zbMATH DE number 5883862 (Why is no real title available?)
- Topology and motion planning algorithms in robotics
- Discrete topological complexity
- Topological robotics in lens spaces
- Topological complexity of real Grassmannians
- Topological complexity of configuration spaces
- scientific article; zbMATH DE number 4041349 (Why is no real title available?)
- Lower bounds for topological complexity
- Generic singular configurations of linkages
- Estimating the higher symmetric topological complexity of spheres
- Finding Topology in a Factory: Configuration Spaces
- Combinatorial and Toric homotopy. Introductory lectures. Based on the program ``Combinatorial and Toric Homotopy, held at the National University of Singapore's Institute for Mathematical Sciences (IMS), August 1--31, 2015
- Discrete Morse theory for the moduli spaces of polygonal linkages, or solitaire on a circle
- A topologist's view of kinematic maps and manipulation complexity
- On the cohomology classes of planar polygon spaces
- Topological complexity of collision-free multi-tasking motion planning on orientable surfaces
- Homeomorphism types of restricted configuration spaces of metric graphs
- On the LS-category and topological complexity of a connected sum
- Digital topological complexity numbers
- Configuration spaces of convex and embedded polygons in the plane
- On topological complexity of twisted products
- scientific article; zbMATH DE number 2149852 (Why is no real title available?)
- Integrable systems in planar robotics
- Lusternik-Schnirelmann category of the configuration space of complex projective space
- Motion planning in connected sums of real projective spaces
- Motion planning algorithms for configuration spaces
- Configuration spaces of spatial linkages: Taking Collisions Into Account
- Oriented area as a Morse function on polygon spaces
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