Parametrized topological complexity of collision-free motion planning in the plane
configuration spacesmotion planning problemobstacle-avoiding collision-free motionparametrized topological complexitytopological complexity
Lyusternik-Shnirel'man category of a space, topological complexity à la Farber, topological robotics (topological aspects) (55M30) Discriminantal varieties and configuration spaces in algebraic topology (55R80) Sectioning fiber spaces and bundles in algebraic topology (55S40) Control of mechanical systems (70Q05)
The parametrized topological complexity \(\mathsf{TC}(p:E\to B)\) (also denoted by \(\mathsf{TC}_B(X)\)) of a fibration \(p: E\to B\) with fiber \(X\) was defined in [\textit{D. C. Cohen} et al., SIAM J. Appl. Algebra Geom. 5, No. 2, 229--249 (2021; Zbl 1473.55010)] as the (reduced) sectional category of the fibration: \[ \Pi: E^I_B \to E\times_B E, \] where \(E^I_B = \{ \alpha: [0,1]\to E: p\circ \alpha \mbox{ is constant} \}\), \(E\times_B E = \{ (x,y)\in E\times E : p(x)=p(y)\}\), and \(\Pi(\alpha)=(\alpha(0), \alpha(1))\). In this paper, the authors consider the parametrized TC of the Fadell-Neuwirth projection map between configuration spaces: \[ p: \mathsf{Conf}(\mathbb{R}^d, m+n) \to \mathsf{Conf}(\mathbb{R}^d, m) \] with fiber \(p^{-1}((x_1,\ldots x_m)) = \mathsf{Conf}(\mathbb{R}^d\setminus \{ x_1,\ldots x_m \},n)\). Roughly speaking, they study the collision-free motion planning problem of \(n\) robots in \(\mathbb{R}^d\) that must avoid \(m\) obstacles whose position is parametrized by \(p\). The authors obtained cohomological and dimensional bounds for parametrized TC in [\textit{D. C. Cohen} et al., SIAM J. Appl. Algebra Geom. 5, No. 2, 229--249 (2021; Zbl 1473.55010)], and applied them in that paper to show that for \(d\) odd the parametrized TC of the Fadell-Neuwirth map equals \(2n+m-1\). In the paper under review, the authors show that the parametrized TC of the Fadell-Neuwirth map equals \(2n+m-2\) when \(d\) is even. The main ingredients in the proof are a lower cohomological bound, a careful analysis of the planar case when \(d=2\), and obstruction theory.
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