Loop Topological Complexity
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1 XXIST OPORTO MEETING Loop Topological Complexity LISBOA, PORTUGAL My Ismail Mamouni Agrégé-Doctor CRMEF Rabat, Morocco http ://myismail.net My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
2 Joint work with Derfoufi Younes Fac. Sc. Meknes, Morocco My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
3 Let s Go : Love and Peace My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
4 Content 1 Motion Planning Algorithms (MPA) 2 My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
5 Motion Planning Algorithms (MPA) Motion Planning Algorithms Farber (2003) Let X a path configuration space, a motion planning algorithm consists to produce continuously from a pair of point (A, B) X X (as an input), a path in X (as an output) from A to B. Roughly speaking, that is any continuous section s : X X PX of the projection π : PX X X γ (γ(0), γ(1)). My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
6 Motion Planning Algorithms (MPA) Motion Planning Algorithms Farber (2003) MPA exists iff X contractible My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
7 Motion Planning Algorithms (MPA) Motion Planning Algorithms On the sequel X contractible, and M(X) denotes the non empty set of all motion planning algorithms on X topologized (as a subset of map(x X, PX)) with the compact-open topology. Derfoufi, M. (2015) M(X) is also contractible My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
8 Motion Planning Algorithms (MPA) Motion Planning Algorithms Open Question 1 If X and Y are homeomorphic, M(X) and M(Y ) are also homeomorphic? My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
9 Motion Planning Algorithms (MPA) Motion Planning Algorithms Partial Answer (compact manifold context) From Urysohn metrization theorem X is metrizable, whenever X is a compact manifold ; Let d X be a such metric on X, it induces a metric δ X on M(X) defined for any s, s M(X) by δ X (s, s ) := sup (A,B) X 2 0 t 1 d X (s(a, B)(t), s (A, B)(t)); The open-compact topology of M(X) is the same than that induced by the metric δ X. My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
10 Motion Planning Algorithms (MPA) Motion Planning Algorithms Derfoufi, M. (Classification Theorem, 2015) (X, d X ) and (Y, d Y ) are isometric, then (M(X), δ X ) and (M(Y ), δ Y ) are also. Sketch of the proof To any isometry ϕ : (X, d X ) (Y, d Y ), we associate the isometry M(ϕ) : (M(Y ), δ Y ) (M(X), δ X ) s ϕ 1 s (ϕ ϕ) My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
11 Motion Planning Algorithms (MPA) Motion Planning Algorithms A contravariant functor X : M : ϕ : contactible path-connected compact mfld Isometrie M(X) : M(ϕ) : metrizable space Isometrie My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
12 Motion Planning Algorithms (MPA) Motion Planning Algorithms Derfoufi, M. (2015) (M(X), δ) is complete. Interpretation For a fixed pair of points (departure, target), then from any wider class of closed motion planning algorithms, emerges one (their limit). Example from Nature Ant colony optimization algorithm based on the behaviour of ants seeking for an optimal path nest-food My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
13 Motion Planning Algorithms (MPA) Motion Planning Algorithms Open Question 2 (M(X), δ) is compact? Interpretation The compactness of (M(X), δ) means that if one fix a pair of points (departure, target), then from any wider class of motion planning algorithms (not necessary closed), emerges one (their limit). My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
14 Loop Motion Planning Algorithms Derfoufi, M. (2015) Loop Motion Planning Algorithm (LMPA) : any continuous section s : X X X S1 of the loop evaluation ev : X S1 X X γ (γ(0), γ( 1 2 )). Interpretation Input : a pair of points (departure, target) ; Output : a goings and comings motion by requiring the robot a come-back to it departure point. My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
15 Loop Motion Planning Algorithms Application areas The motion of an drone like an unmanned warplane or a guided TV camera ; The famous vehicle routing problem with pick-up and delivery Derfoufi, M. (2015) LMPA exits iff X contractible. My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
16 Loop Motion Planning Algorithms On the sequel X contractible, and M LP (X) denotes the non empty set of all loop motion planning algorithms on X topologized (as a subset of map(x X, X S1 )) with the compact-open topology. Derfoufi, M. (2015) M LP (X) is also contractible. My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
17 Loop Topological Complexity Derfoufi, M. (2015) TC LP (X) : the minimal number k (or infinity) such that X X can be recovered by k open sets U 1,... U k such that on each of which there exists a continuous loop motion planning algorithm, si LP over U i verifying si LP (A i, B i )(1) = A i for any (A i, B i ) U i. Derfoufi, M. (2015) TC LP (X) = TC(X) My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
18 Loop Motion Planning Product Derfoufi, M. (2015) For any (s 1, s 2 ) M LP (X) M LP (X), we put : s 1 s 2 (a, b)(t) = s 1 (a, b)(t) if 0 t 1 2 = s 1 (a, b)(3t 1) if 1 2 t 2 3 = s 2 (a, b)(3t 2) if 2 3 t 1 My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
19 Loop Motion Planning Product Two loop motion planning algorithms are composable if and only if they have two common base points. B, t=1/2 B t=1/2 B t=1/2 * = A t=0,t=1 A t=0,t=1 A t=0,t=2/3,t=1 My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
20 Open Question 3 How one may use the loop motion product or interpret the equality TC = TC LP? My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
21 Research Project Key Idea loop motion product leads to a string motion product in the same spirit of that of Chas-Sullivan on M LP (X) Main Obstacle M LP (X) is contractible, its homology is trivial. My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
22 Research Project Global Question Is there any way to define global LMPA for a non contractible compact manifold My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
23 References Y. Derfoufi, M., Motion planning algorithms, topological proprieties and affine approximation, submitted on December 2014 Y. Derfoufi, M., On the motion of a mobile robot in a contractible, path connected and compact manifold, final touches My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
24 Acknowledgements XXIst Oporto Meeting Organizers My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
25 Acknowledgements Mark Grant, Aberdeen, UK Introduction to Topological Robotics and 2 Years Assistance My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
26 Acknowledgements MAAT, Moroccan Research Group My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
27 Acknowledgements MAAT, Moroccan Research Group MAAT : Moroccan Area of Algebraic Topology (Born : 2012) ; Logo : and Home Page : http ://algtop.net Members : 3 professors, 7 PhD Students, 30 Master Students ; Scientific production 1 1 published papers, 7 submitted since November 2013 ; 2 Monthly seminar 3 Bi-Annual Research School :Geometry, Topology in Physics and Mathematics 4 GeToPhyMa-2016 (July, http ://algtop.net/geto16) : On Rational Homotopty Theory and its Interactions, will be dedicated to D. Sullivan and J. Stasheff. My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
28 Acknowledgements Kind Portuguese People My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
29 Questions or Comments are accepted in slowly formulated My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
30 My Ismail Mamouni XXIst Oporto Meeting, Lisboa, Portugal 4th-7th February, / 30
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