Topological complexity of collision-free motion planning on surfaces

TL;DR

This paper calculates the topological complexity of configuration spaces of n points on surfaces, providing insights into motion planning challenges in robotics through algebraic topology methods.

Contribution

It explicitly computes the topological complexity for configuration spaces on orientable surfaces, extending the understanding of motion planning complexity in robotics.

Findings

Topological complexity for configuration spaces on surfaces is determined.

The computation uses Totaro's cohomology theorem for algebraic varieties.

Results aid in designing efficient motion planning algorithms.

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.