Motion planning in real flag manifolds

DOI10.4310/HHA.2016.V18.N2.A20MaRDI QIDQ505372zbMATH OpenFDO

Authors Jesús González, Bárbara Gutiérrez, Darwin Gutiérrez, Adriana Lara

Publication date 20 January 2017

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

Full work available at URL https://arxiv.org/abs/1509.02898

zbMATH Keywords

surfacemotion planningtopological complexityflag manifoldszero-divisorscup-length

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Artificial intelligence for robotics (68T40) Homology and cohomology of homogeneous spaces of Lie groups (57T15) Lyusternik-Shnirel'man category of a space, topological complexity à la Farber, topological robotics (topological aspects) (55M30)

Abstract: Starting from Borel's description of the mod-2 cohomology of real flag manifolds, we give a minimal presentation of the cohomology ring for semi complete flag manifolds $F_{k,m}:=F(1,ldots,1,m)$ where $1$ is repeated $k$ times. The information is used in order to estimate Farber's topological complexity of these spaces when $m$ approaches (from below) a 2-power. In particular, we get almost sharp estimates for $F_{2,2^e-1}$ which resemble the known situation for the real projective spaces $F_{1,2^e}$. Our results indicate that the agreement between the topological complexity and the immersion dimension of real projective spaces no longer holds for other flag manifolds. More interestingly, we also get corresponding results for the $s$-th (higher) topological complexity of these spaces. Actually, we prove the surprising fact that, as $s$ increases, the estimates become stronger. Indeed, we get several full computations of the higher motion planning problem of these manifolds. This property is also shown to hold for surfaces: we get a complete computation of the higher topological complexity of all closed surfaces (orientable or not). A homotopy-obstruction explanation is included for the phenomenon of having a cohomologically accessible higher topological complexity even when the regular topological complexity is not so accessible.

Recommendations

• Higher topological complexities of real Grassmannians and semi-complete real flag manifolds
• Note on topological complexity of some real projective spaces and real flag manifolds
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Cited in

(11)

• Topological complexity of collision-free multi-tasking motion planning on orientable surfaces
• On topological complexity of twisted products
• Topological complexity of the Klein bottle
• Sequential motion planning algorithms in real projective spaces: an approach to their immersion dimension
• Manifolds with small topological complexity
• An upper bound for higher topological complexity and higher strongly equivariant complexity
• Higher topological complexities of real Grassmannians and semi-complete real flag manifolds
• Computing with the \textsf{TC}-canonical class
• Note on topological complexity of some real projective spaces and real flag manifolds
• On the topological complexity and zero-divisor cup-length of real Grassmannians
• Gröbner bases for (partial) flag manifolds

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