CAT(0) Geometry, Robots, and Society

DOI10.1090/NOTI2113MaRDI QIDQ5149338zbMATH OpenOpenAlexFDO

Authors Federico Ardila

Publication date 11 February 2021

Published in Notices of the American Mathematical Society (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1912.10007

Mathematics Subject Classification ID

Planar graphs; geometric and topological aspects of graph theory (05C10) General topology of complexes (57Q05) Artificial intelligence for robotics (68T40)

Abstract: How do we move a robot efficiently from one position to another? To answer this question, we need to understand its configuration space, a 'map' where we can find every possible position of the robot. Unfortunately, these maps are very large, they live in high dimensions, and they are very difficult to visualize. Fortunately, for some discrete robots they are CAT(0) cubical complexes, a family of spaces with favorable properties. In this case, using ideas from combinatorics and geometric group theory, we can construct a 'remote control' to navigate these complicated maps, and move the robots optimally. Along the way, we face larger ethical questions that we cannot ignore.

Cited in

(4)

• The configuration space of a robotic arm over a graph
• The space of equidistant phylogenetic cactuses
• Towards control, learning and intelligence in reconfigurable systems
• Markov chains, CAT(0) cube complexes, and enumeration: monotone paths in a strip mix slowly

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