We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in the process of motion. The ultimate goal is to construct an algorithm which will perform this task once the initial and the final configurations are given. This reduces to a topological problem of finding the topological complexity TC(C_n(\R^m)) of the configutation space C_n(\R^m) of $n$ distinct ordered particles in \R^m. We solve this problem for m=2 (the planar case) and for all odd m, including the case m=3 (particles in the three-dimensional space). We also study a more general motion planning problem in Euclidean space with a hyperplane arrangement as obstacle.
We show that, for an arrangement of subspaces in a complex vector space with geometric intersection lattice, the complement of the arrangement is formal. We prove that the Morgan rational model for such an arrangement complement is formal as a differential graded algebra.
The notions of deleted and restricted arrangements have been useful in the study of arrangements of hyperplanes. If A is an arrangement of hyperplanes, x in A and A', A'' the deleted and restricted arrangements, there is a formula connecting the Poincare polynomials of the complement spaces M(A), M(A') and M(A''). In this paper, we consider the extension of this formula to arbitrary subspaces arrangements. The main result is the existence of a long exact sequence connecting the rational cohomology of M(A), M(A') and M(A''). Using this sequence, we obtain new results connecting the Betti number…
Let A be a subspace arrangement with a geometric lattice such that codim(x) > 1 for every x in A. Using rational homotopy theory, we prove that the complement M(A) is rationally elliptic if and only if the sum of the orthogonal subspaces is a direct sum. The homotopy type of M(A) is also given: it is a product of odd dimensional spheres. Finally, some other equivalent conditions are given, such as Poincare duality. Those results give a complete description of arrangements (with geometric lattice and with the codimension condition on the subspaces) such that M(A) is rationally elliptic, and sho…
Let A be a geometric arrangement such that codim(x) > 1 for every x in A. We prove that, if the complement space M(A) is rationally hyperbolic, then there exists an injective from a free Lie algebra L(u,v) to the homotopy Lie algebra of M(A).
We compute the mixed Hodge structure on the cohomology ring of complements of complex coordinate subspace arrangements. The mixed Hodge structure can be described in terms of the special bigrading on the cohomology ring of complements of complex coordinate subspace arrangements. Originally this bigrading was introduced in the setting of toric topology by V.M. Buchstaber and T.E. Panov.
University of Innsbruck（因斯布鲁克大学）；Technical University of Munich（慕尼黑工业大学）；German Aerospace Center (DLR)（德国航空航天中心）
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work presents a novel approach to learn workspace constraints from human demonstrations and to generate motion trajectories for the robot that lie in the constrained workspace. Training data are incrementally clustered into different linear subspaces and used to fit a low dimensional representation of each subspace. By considering the learned constraint subspaces as ze…
In this paper we represent the Vassiliev model for the homotopy type of the one-point compactification of subspace arrangements as a homotopy colimit of an appropriate diagram over the nerve complex of the intersection semilattice of the arrangement. Furthermore, using a generalization of simplicial collapses to diagrams of topological spaces over simplicial complexes, we construct an explicit deformation retraction from the Vassiliev model to the Ziegler-Zivaljevic model.
The homotopy type of the complement of a complex coordinate subspace arrangement is studied by fathoming out the connection between its topological and combinatorial structures. A family of arrangements for which the complement is homotopy equivalent to a wedge of spheres is described. One consequence is an application in commutative algebra: certain local rings are proved to be Golod, that is, all Massey products in their homology vanish.
Church-Ellenberg-Farb used the language of FI-modules to prove that the cohomology of certain sequences of hyperplane arrangements with S_n-actions satisfies representation stability. Here we lift their results to the level of the arrangements themselves, and define when a collection of arrangements is "finitely generated". Using this notion we greatly widen the stability results to: 1) General linear subspace arrangements, not necessarily of hyperplanes. 2) A wide class of group actions, replacing FI by a general category C. We show that the cohomology of such collections of arrangements sati…
A subspace arrangement defined by intersections of hyperplanes of the braid arrangement can be encoded by an edge colored hypergraph. It turns out that the characteristic polynomial of this type of subspace arrangement is given by a generalized chromatic polynomial of the associated edge colored hypergraph. The main result of this paper supplies a sufficient condition for the existence of non-trivial Massey products of the subspace arrangements complex complement. This is accomplished by studying a spectral sequence associated to the Lie coalgebras of Sinha and Walter.
Associated to any subspace arrangement is a "De Concini-Procesi model", a certain smooth compactification of its complement, which in the case of the braid arrangement produces the Deligne-Mumford compactification of the moduli space of genus 0 curves with marked points. In the present work, we calculate the integral homology of real De Concini-Procesi models, extending earlier work of Etingof, Henriques, Kamnitzer and the author on the (2-adic) integral cohomology of the real locus of the moduli space. To be precise, we show that the integral homology of a real De Concini-Procesi model is iso…
Given a hyperplane arrangement in a complex vector space of dimension n, there is a natural associated arrangement of codimension k subspaces in a complex vector space of dimension k*n. Topological invariants of the complement of this subspace arrangement are related to those of the complement of the original hyperplane arrangement. In particular, if the hyperplane arrangement is fiber-type, then, apart from grading, the Lie algebra obtained from the descending central series for the fundamental group of the complement of the hyperplane arrangement is isomorphic to the Lie algebra of primitive…
We show that the cohomology algebra of the complement of a coordinate subspace arrangement in m-dimensional complex space is isomorphic to the cohomology algebra of Stanley-Reisner face ring of a certain simplicial complex on m vertices. (The face ring is regarded as a module over the polynomial ring on m generators.) Then we calculate the latter cohomology algebra by means of the standard Koszul resolution of polynomial ring. To prove these facts we construct an equivariant with respect to the torus action homotopy equivalence between the complement of a coordinate subspace arrangement and th…
A subspace arrangement is a finite collection of affine subspaces in $\mathbb{R}^n$. One of the main problems associated to arrangements asks up to what extent the topological invariants of the union of these spaces, and of their complement are determined by the combinatorics of their intersection. The most important result in this direction is due to Goresky and MacPherson. As an application of their stratified Morse theory they showed that the additive structure of the cohomology of the complement is determined by the underlying combinatorics. In this paper we consider toric arrangements; a …
Given a space $X$ and a simplicial complex $K$ with $m$-vertices, the arrangement of partially diagonal subspaces of $X^m$, called the dragonal arrangement, is defined. We decompose the suspension of the diagonal arrangement when $2(dim K + 1) < m$, which generalizes the result of Labassi. As a corollary, we calculate the Euler characteristic of the complement when $X$ is a closed connected manifold.
The integral cohomology ring of the complement of an arrangement of linear subspaces of a finite dimensional complex projective space is determined by combinatorial data, i.e. the intersection poset and the dimension function.
In combinatorial problems it is sometimes possible to define a $G$-equivariant mapping from a space $X$ of configurations of a system to a Euclidean space $\mathbb{R}^m$ for which a coincidence of the image of this mapping with an arrangement $\mathcal{A}$ of linear subspaces insures a desired set of linear conditions on a configuration. Borsuk-Ulam type theorems give conditions under which no $G$-equivariant mapping of $X$ to the complement of the arrangement exist. In this paper, precise conditions are presented which lead to such theorems through a spectral sequence argument. We introduce a…
This article gives a natural decomposition of the suspension of generalized moment-angle complexes or {\it partial product spaces} which arise as {\it polyhedral product functors} described below. In the special case of the complements of certain subspace arrangements, the geometrical decomposition implies the homological decomposition in Goresky-MacPherson \cite{goresky.macpherson}, Hochster\cite{hochster}, Baskakov \cite{baskakov}, Panov \cite{panov}, and Buchstaber-Panov \cite{buchstaber.panov}. Since the splitting is geometric, an analogous homological decomposition for a generalized momen…
Using the topological technique of diagrams of spaces, we calculate the homology of the union and the complement of finite arrangements of subspaces of the form $D + SP^{n-d}(X)$ in symmetric products $SP^n(X)$ where $D\in SP^d(X)$. As an application we include a computation of the homology of the homotopy end space of the open manifold $SP^n(M_{g,k})$, where $M_{g,k}$ is a Riemann surface of genus $g$ punctured at $k$ points, a problem which was originally motivated by the study of commutative $(m+k,m)$-groups.
Given a subspace arrangement, there are several De Concini-Procesi models associated to it, depending on distinct sets of initial combinatorial data (building sets). The first goal of this paper is to describe, for the root arrangements of types A_n, B_n (=C_n), D_n, the poset of all the building sets which are invariant with respect to the Weyl group action, and therefore to classify all the wonderful models which are obtained by adding to the complement of the arrangement an equivariant divisor. Then we point out, for every fixed n, a family of models which includes the minimal model and the…
Two homotopy decompositions of supensions of spaces involving polyhedral products are given. The first decomposition is motivated by the decomposition of suspensions of polyhedral products by Bahri, Bendersky, Cohen, and Gitler, and is a generalization of the retractile argument of James. The second decomposition is on the union of an arrangement of subspaces called diagonal subspaces, and generalizes the result of Labbasi.
We extend the existing idea of "cellular poset", introduce a collection of "cellular methods" for the computation of homology of intersection lattice of a complicated subspace arrangement, and for the computation of multiplicative structure induced by intersection. As an application, we give a presentation of cohomology ring of orbit configuration space of standard action by cellular methods and a spectral sequence associated with Grothendieck fibration of poset.
Let $\mathcal{F}_h^i(k,n)$ be the $i$th ordered configuration space of all distinct points $H_1,\ldots,H_h$ in the Grassmannian $Gr(k,n)$ of $k$-dimensional subspaces of $\mc^n$, whose sum is a subspace of dimension $i$. We prove that $\mathcal{F}_h^i(k,n)$ is (when non empty) a complex sub\-ma\-ni\-fold of $Gr(k,n)^h$ of dimension $i(n-i)+hk(i-k)$ and its fundamental group is trivial if $i=min(n,hk)$, $hk \neq n$ and $n>2$ and equal to the braid group of the sphere $\mc P^1$ if $n=2$. Eventually we compute the fundamental group in the special case of hyperplane arrangements, i.e. $k=n-1$.
