Topological complexity of a map

DOI10.4310/HHA.2019.V21.N2.A7MaRDI QIDQ2326307zbMATH OpenFDO

Authors Petar Pavešić

Publication date 7 October 2019

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

Full work available at URL https://arxiv.org/abs/1809.09021

zbMATH Keywords

coveringfibrationkinematic maproboticstopological complexity

Mathematics Subject Classification ID

Classical topics in algebraic topology (55M99) Artificial intelligence for robotics (68T40) Kinematics of mechanisms and robots (70B15)

Abstract: We study certain topological problems that are inspired by applications to autonomous robot manipulation. Consider a continuous map $fcolonXoY$, where $f$ can be a kinematic map from the configuration space $X$ to the working space $Y$ of a robot arm or a similar mechanism. Then one can associate to $f$ a number $mathrmTC(f)$, which is, roughly speaking, the minimal number of continuous rules that are necessary to construct a complete manipulation algorithm for the device. Examples show that $mathrmTC(f)$ is very sensitive to small perturbations of $f$ and that its value depends heavily on the singularities of $f$. This fact considerably complicates the computations, so we focus here on estimates of $mathrmTC(f)$ that can be expressed in terms of homotopy invariants of spaces $X$ and $Y$, or that are valid if $f$ satisfy some additional assumptions like, for example, being a fibration. Some of the main results are the derivation of a general upper bound for $mathrmTC(f)$, invariance of $mathrmTC(f)$ with respect to deformations of the domain and codomain, proof that $mathrmTC(f)$ is a FHE-invariant, and the description of a cohomological lower bound for $mathrmTC(f)$. Furthermore, if $f$ is a fibration we derive more precise estimates for $mathrmTC(f)$ in terms of the Lusternik-Schnirelmann category and the topological complexity of $X$ and $Y$. We also obtain some results for the important special case of covering projections.

Review text

The notion of topological complexity of a map was first presented by the author in [``Complexity of the forward kinematic map, Mech. Mach. Theory 117, 230--243 (2017; \url{https://doi.org/10.1016/j.mechmachtheory.2017.07.015})]. The author devises an alternative approach which yields more satisfactory results for general maps. Furthermore, the author presents a general upper bound for the topological complexity of a map. However, there is a mistake in the formula of Theorem 3.17, the correct formula is \[ TC(f)\leq cat(X)+cat(X)\cdot sec(f)-1. \]

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Cited in

(26)

• Homotopic distance and generalized motion planning
• Parametrized topological complexity of collision-free motion planning in the plane
• Relative LS categories and higher topological complexities of maps
• On the topological complexity of maps
• Sectional category and the fixed point property
• Topological complexity with continuous operations
• Discrete topological complexity
• Erratum to ``Topological complexity is a fibrewise L-S category [Topology Appl. 157, No 1, 10--21 (2010)]
• A topologist's view of kinematic maps and manipulation complexity
• Topological complexity of the work map
• On the topological characterization of gestures in a convenient category of spaces
• Monotonicity of the Schwarz genus
• Different types of topological complexity based on higher homotopic distance
• Higher topological complexity of a map
• Strong digital topological complexity of digital maps
• Manifolds with small topological complexity
• On the sequential topological complexity of group homomorphisms
• Sectional category of maps related to finite spaces
• Generalized topological complexity and its monoidal version
• Topological complexity of a map
• Relative sectional number and the coincidence property
• Directed topological complexity of poset-stratified spaces
• Discrete homotopic distance between Lipschitz maps
• Some notes and comparisons on topological complexities
• Proximal motion planning algorithms
• On the targeted complexity of a map

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