Abstract: In this paper we study a notion of topological complexity for the motion planning problem. The topological complexity is a number which measures discontinuity of the process of motion planning in the configuration space X. More precisely, it is the minimal number k such that there are k different motion planning rules, each defined on an open subset of XxX, so that each rule is continuous in the source and target configurations. We use methods of algebraic topology (the Lusternik - Schnirelman theory) to study the topological complexity . We give an upper bound (in terms of the dimension of the configuration space X) and also a lower bound (in the terms of the structure of the cohomology algebra of X). We explicitly compute the topological complexity of motion planning for a number of configuration spaces: for spheres, two-dimensional surfaces, for products of spheres. In particular, we completely calculate the topological complexity of the problem of motion planning for a robot arm in the absence of obstacles.
Recommendations
Cited in
(only showing first 100 items - show all)- Parametrized topological complexity of collision-free motion planning in the plane
- Higher equivariant and invariant topological complexities
- On the topological complexity of aspherical spaces
- Simplicial complexity: piecewise linear motion planning in robotics
- Mini-workshop: Topological complexity and related topics. Abstracts from the mini-workshop held February 28 -- March 5, 2016
- Topological complexity of the work map
- Sequential parametrized motion planning and its complexity
- Whitehead and Ganea constructions for fibrewise sectional category
- On the cohomology rings of tree braid groups.
- Topological complexity of classical configuration spaces and related objects
- Configuration spaces and topological complexity
- Geodesic complexity for non-geodesic spaces
- Combinatorics of a discrete trajectory space for robot motion planning
- Strong digital topological complexity of digital maps
- Topological complexity of real Grassmannians
- New lower bounds for the topological complexity of aspherical spaces
- Topological complexity of motion planning in projective product spaces
- Homology groups for particles on one-connected graphs
- Sectional category of the Ganea fibrations and higher relative category
- Lower bounds for topological complexity
- TOPOLOGICAL COMPLEXITY (WITHIN 1) OF THE SPACE OF ISOMETRY CLASSES OF PLANAR n-GONS FOR SUFFICIENTLY LARGE n
- \(m\)-homotopic distance
- Topology of robot motion planning
- Topological complexity of collision-free multi-tasking motion planning on orientable surfaces
- The higher topological complexity in digital images
- On topological complexity of twisted products
- On the topological structure of attraction basins for differential inclusions
- Geodesic complexity of motion planning
- Physics inspired algorithms for (co)homology computations of three-dimensional combinatorial manifolds with boundary
- Topological complexity of a map
- Motion planning algorithms, topological properties and affine approximation
- Relative LS categories and higher topological complexities of maps
- Pseudo centre and its applications
- The Ganea conjecture for rational approximations of sectional category
- Different types of topological complexity based on higher homotopic distance
- Q-topological complexity
- Topological complexity is a fibrewise L-S category
- Topology and motion planning algorithms in robotics
- Rational topological complexity
- Sequential collision-free optimal motion planning algorithms in punctured Euclidean spaces
- Effective topological complexity of orientable-surface groups
- Topological complexity of the Klein bottle
- Certain topological methods for computing digital topological complexity
- Formal aspects of parametrized topological complexity and its pointed version
- Configuration spaces and robot motion planning algorithms
- Rational methods applied to sectional category and topological complexity
- Pairwise disjoint maximal cliques in random graphs and sequential motion planning on random right angled Artin groups
- Oriented robot motion planning in Riemannian manifolds
- Category and topological complexity of the configuration space \(F(G\times \mathbb{R}^n,2)\)
- Higher dimensional simplicial complexity
- Higher analogues of discrete topological complexity
- STRING TOPOLOGICAL ROBOTICS
- Higher homotopic distance
- Motion planning in connected sums of real projective spaces
- Homotopic distance between functors
- On the zero-divisor-cup-length of spaces of oriented isometry classes of planar polygons
- Directed topological complexity
- A topologist's view of kinematic maps and manipulation complexity
- A combinatorial description of topological complexity for finite spaces
- Sequential motion planning algorithms in real projective spaces: an approach to their immersion dimension
- A short proof for \(\mathrm{tc}(K)=4\)
- Estimating the higher symmetric topological complexity of spheres
- On the topological complexity of manifolds with abelian fundamental group
- Digital topological complexity numbers
- Symmetric Bi-Skew Maps and Symmetrized Motion Planning in Projective Spaces
- Lusternik-Schnirelmann category of the configuration space of complex projective space
- Higher topological complexity of aspherical spaces
- An application of the theory of FI-algebras to graph configuration spaces
- Manifolds with small topological complexity
- Sequential parametrized topological complexity and related invariants
- Subdivisional spaces and graph braid groups
- Loop topological complexity
- Hopf invariants, topological complexity, and LS-category of the cofiber of the diagonal map for two-cell complexes
- A lower bound for higher topological complexity of real projective space
- Instabilities of robot motion
- Bounds for higher topological complexity of real projective space implied by BP
- An \(n\)-dimensional Klein bottle
- Parametrized topological complexity of poset-stratified spaces
- Topological complexity of \(n\) points on a tree
- Topological complexity and the homotopy cofibre of the diagonal map
- Geodesic complexity via fibered decompositions of cut loci
- Higher topological complexity and its symmetrization
- Equivariant topological complexities
- Topological complexity of unordered configuration spaces of certain graphs
- On the topological complexity of toral relatively hyperbolic groups
- Geodesic complexity of homogeneous Riemannian manifolds
- Analog category and complexity
- Topological complexity of \(H\)-spaces
- Simplicial fibrations
- Digital homotopic distance between digital functions
- The higher topological complexity of complement of fiber type arrangement
- Symmetric configuration spaces of linkages
- Topological complexity of some planar polygon spaces
- On the growth of topological complexity
- Inessential directed maps and directed homotopy equivalences
- Digital Lusternik-Schnirelmann category of digital functions
- Geometric eccentricity and the complexity of manipulation plans
- The rational zero-divisor cup-length of oriented partial flag manifolds
- Topological complexity of graphic arrangements
- Sectional category and the fixed point property
This page was built for publication: Topological complexity of motion planning
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1404499)
