Topological complexity of collision-free motion planning on surfaces

DOI10.1112/S0010437X10005038zbMATH Open1218.55004arXiv0901.0877OpenAlexW3106319120MaRDI QIDQ2994893FDOQ2994893

Authors: Daniel C. Cohen, Michael Farber 

Publication date: 29 April 2011

Published in: Compositio Mathematica (Search for Journal in Brave)

Abstract: The topological complexity TC(X) is a numerical homotopy invariant of a topological space X which is motivated by robotics and is similar in spirit to the classical Lusternik-Schnirelmann category of X. Given a mechanical system with configuration space X, the invariant TC(X) measures the complexity of all possible motion planning algorithms designed for the system. In this paper, we compute the topological complexity of the configuration space of n distinct ordered points on an orientable surface. Our main tool is a theorem of B. Totaro describing the cohomology of configuration spaces of algebraic varieties.

Full work available at URL: https://arxiv.org/abs/0901.0877

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zbMATH Keywords

topological complexitysurface configuration space

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Braid groups; Artin groups (20F36) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Discriminantal varieties and configuration spaces in algebraic topology (55R80) Control/observation systems involving computers (process control, etc.) (93C83) Lyusternik-Shnirel'man category of a space, topological complexity à la Farber, topological robotics (topological aspects) (55M30)

Cites Work

• Topological complexity of motion planning
• The cohomology ring of the colored braid group
• Configuration Spaces.

Cited In (21)

• Topology and motion planning algorithms in robotics
• Category and topological complexity of the configuration space \(F(G\times \mathbb{R}^n,2)\)
• Lusternik-Schnirelmann category of the configuration space of complex projective space
• Loop topological complexity
• On topological complexity of non-orientable surfaces
• Sequential gradient dynamics in real analytic Morse systems
• Robot motion planning, weights of cohomology classes, and cohomology operations
• Right-angled Artin groups, polyhedral products and the -generating function
• Topological complexity of motion planning
• Topological complexity of unordered configuration spaces of surfaces
• Linear motion planning with controlled collisions and pure planar braids
• Farber's conjecture for planar graphs
• Title not available (Why is that?)
• Motion planning algorithms for configuration spaces
• Relative topological complexity and configuration spaces
• Configuration spaces and topological complexity
• Topological complexity of classical configuration spaces and related objects
• 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 collision-free multi-tasking motion planning on orientable surfaces
• Topology of robot motion planning

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