Topological complexity of the work map
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Lyusternik-Shnirel'man category of a space, topological complexity à la Farber, topological robotics (topological aspects) (55M30) Rational homotopy theory (55P62) Homotopy theory (55P99) Discriminantal varieties and configuration spaces in algebraic topology (55R80) Sectioning fiber spaces and bundles in algebraic topology (55S40) Robot dynamics and control of rigid bodies (70E60)
Abstract: We introduce the topological complexity of the work map associated to a robot system. In broad terms, this measures the complexity of any algorithm controlling, not just the motion of the configuration space of the given system, but the task for which the system has been designed. From a purely topological point of view, this is a homotopy invariant of a map which generalizes the classical topological complexity of a space.
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Cited in
(20)- Topological complexity and efficiency of motion planning algorithms
- Oriented robot motion planning in Riemannian manifolds
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- Homotopic distance and generalized motion planning
- Parametrized topological complexity of collision-free motion planning in the plane
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