Configuration spaces of distinct labeled points on the plane are of practical relevance in designing safe control schemes for Automated Guided Vehicles (robots) in industrial settings. In this announcement, we consider the problem of the construction and classification of configuration spaces for graphs. Topological data associated to these spaces (eg, dimension, braid groups) provide an effective measure of the complexity of the control problem. The spaces are themselves topologically interesting objects: we show that they are $K(π_1,1)$ spaces whose homological dimension is bounded by the number of essential vertices. Hence, the braid groups are torsion-free.
Motivated by the work in [15], this paper deals with the theory of the braids from chromatic configuration spaces. This kind of braids possess the property that some strings of each braid may intersect together and can also be untangled, so they are quite different from the ordinary braids in the sense of Artin. This enriches and extends the theory of ordinary braids.
We show that the fundamental group of the space of ordered affine-equivalent configurations of at least five points in the real plane is isomorphic to the pure braid group modulo its centre. In the case of four points this fundamental group is free with eleven generators.
We use rational formality of configuration spaces and the bar construction to study the cohomology of the space of braids in dimension four or greater. We provide a diagram complex for braids and a quasi-isomorphism to the de Rham cochains on the space of braids. The quasi-isomorphism is given by a configuration space integral followed by Chen's iterated integrals. This extends results of Kohno and of Cohen and Gitler on the cohomology of the space of braids to a CDGA suitable for integration. We show that this integration is compatible with Bott-Taubes configuration space integrals for long l…
We construct an explicit bundle with flat connection on the configuration space of n points of a complex curve. This enables one to recover the `formality' isomorphism between the Lie algebra of the prounipotent completion of the pure braid group of n points on a surface and an explicitly presented Lie algebra t_{g,n} (Bezrukavnikov), and to extend it to a morphism from the full braid group of the surface to the semidirect product exp(hat t_{g,n}) rtimes S_n.
We construct a group $Γ_{n}^{4}$ corresponding to the motion of points in $\mathbb{R}^{3}$ from the point of view of Delaunay triangulations. We study homomorphisms from pure braids on $n$ strands to the product of copies of $Γ_{n}^{4}$. We will also study the group of pure braids in $\mathbb{R}^{3}$, which is described by a fundamental group of the restricted configuration space of $\mathbb{R}^{3}$, and define the group homomorphism from the group of pure braids in $\mathbb{R}^{3}$ to $Γ_{n}^{4}$. In the end of this paper we give some comments about relations between the restricted configurat…
The n-string braid group of a graph X is defined as the fundamental group of the n-point configuration space of the space X. This configuration space is a finite dimensional aspherical space. A. Abrams and R. Ghrist have conjectured that this braid group is a right angled Artin group if X is planar. We prove their conjecture if X is a tree whose nodes all lie in a single interval of X.
We prove Farber's conjecture on the stable topological complexity of configuration spaces of graphs. The conjecture follows from a general lower bound derived from recent insights into the topological complexity of aspherical spaces. Our arguments apply equally to higher topological complexity.
We study the problem of computing the homology of the configuration spaces of a finite cell complex $X$. We proceed by viewing $X$, together with its subdivisions, as a subdivisional space--a kind of diagram object in a category of cell complexes. After developing a version of Morse theory for subdivisional spaces, we decompose $X$ and show that the homology of the configuration spaces of $X$ is computed by the derived tensor product of the Morse complexes of the pieces of the decomposition, an analogue of the monoidal excision property of factorization homology. Applying this theory to the co…
The graph braid group of a complete bipartite graph is the fundamental group of a configuration space of points on the graph, which is a CAT(0) cube complex. We combine an analysis of the topology of links of vertices in this complex, the description of a hidden symmetry among the parameters, and known results from the literature to explicitly compute the exact degree to which these complexes and groups are connected at infinity.
We describe the fundamental groups of ordered and unordered k point sets in complex projective space of dimension n generating a projective subspace of dimension i. We apply these to study connectivity of more complicated configurations of points.
The n-strand braid group can be defined as the fundamental group of the configuration space of n unlabeled points in a closed disk based at a configuration where all n points lie in the boundary of the disk. Using this definition, the subset of braids that have a representative where a specified subset of these points remain pointwise fixed forms a subgroup isomorphic to a braid group with fewer strands. In this article, we generalize this phenomenon by introducing the notion of boundary braids. A boundary braid is a braid that has a representative where some specified subset of the points rem…
Let M be a surface, perhaps with boundary, and either compact, or with a finite number of points removed from the interior of the surface. We consider the inclusion i: F\_n(M) --\textgreater{} M^n of the nth configuration space F\_n(M) of M into the n-fold Cartesian product of M, as well as the induced homomorphism i\_\#: P\_n(M) --\textgreater{} (π\_1(M))^n, where P\_n(M) is the n-string pure braid group of M. Both i and i\_\# were studied initially by J.Birman who conjectured that Ker(i\_\#) is equal to the normal closure of the Artin pure braid group P\_n in P\_n(M). The conjecture was late…
The based loop space of a configuration space of points in a Euclidean space can be viewed as a space of pure braids in a Euclidean space of one dimension higher. We continue our study of such spaces in terms of Kontsevich's CDGA of diagrams and Chen's iterated integrals. We construct a power series connection which yields a Hopf algebra isomorphism between the homology of the space of pure braids and the cobar construction on diagrams. It maps iterated Whitehead products to trivalent trees modulo the IHX relation. As an application, we establish a correspondence between Milnor invariants of B…
We show that the second homology of the configuration spaces of a planar graph is generated under the operations of embedding, disjoint union, and edge stabilization by three atomic graphs: the cycle graph with one edge, the star graph with three edges, and the theta graph with four edges. We give an example of a non-planar graph for which this statement is false.
This paper upbuilds the theoretical framework of orbit braids in $M\times I$ by making use of the orbit configuration space $F_G(M,n)$, which enriches the theory of ordinary braids, where $M$ is a connected topological manifold of dimension at least 2 with an effective action of a finite group $G$ and the action of $G$ on $I$ is trivial. Main points of our work include as follows. We introduce the orbit braid group $\mathcal{B}_n^{orb}(M,G)$, and show that it is isomorphic to a group with an additional endowed operation (called the extended fundamental group of $F_G(M,n)$), formed by the homot…
The groups $G_n^k$ were defined by V. O. Manturov in order to describe dynamical systems in configuration systems. In the paper we consider two applications of this theory: we define a biquandle structure on the groups $G_n^k$, and construct a homomorphism from the surface singular braid monoid to the group $G_n^2$.
In his PhD thesis, Abrams proved that, for a natural number n and a graph G with at least n vertices, the n-strand configuration space of G deformation retracts to a compact subspace, the discretized n-strand configuration space, provided G satisfies two conditions: each path between distinct essential vertices (vertices of degree not equal to 2) is of length at least n+1 edges, and each path from a vertex to itself which is not nullhomotopic is of length at least n+1 edges. Using Forman's discrete Morse theory for CW-complexes, we show the first condition can be relaxed to require only that e…
We show that the family of colored Jones polynomials of the closure of a braid compute weighted sums of abelianized Lefschetz numbers associated with the action of the braid on configuration spaces. The sum is over the number of configuration points. Then we interpret this sum in terms of Poincare--Lefschetz duality intersection pairing between homology classes.
In this paper, we give a fully detailed exposition of computing fundamental groups of complements of line arrangements using the Moishezon-Teicher technique for computing the braid monodromy of a curve and the Van-Kampen theorem which induces a presentation of the fundamental group of the complement from the braid monodromy of the curve. For example, we treated the cases where the arrangement has t multiple intersection points and the rest are simple intersection points. In this case, the fundamental group of the complement is a direct sum of infinite cyclic groups and t free groups. Hence, th…
We consider the universal family $E_n^d$ of superelliptic curves: each curve $Σ_n^d$ in the family is a $d$-fold covering of the unit disk, totally ramified over a set $P$ of $n$ distinct points; $Σ_n^d\hookrightarrow E_n^d\to C_n$ is a fibre bundle, where $C_n$ is the configuration space of $n$ distinct points. We find that $E_n^d$ is the classifying space for the complex braid group of type $B(d,d,n)$ and we compute a big part of the integral homology of $E_n^d,$ including a complete calculation of the stable groups over finite fields by means of Poincarè series. The computation of the main …
We prove a number of new results on the large-scale geometry of the $L^p$-metrics on the group of area-preserving diffeomorphisms of each orientable surface. Our proofs use in a key way the Fulton-MacPherson type compactification of the configuration space of $n$ points on the surface due to Axelrod-Singer and Kontsevich. This allows us to apply the Schwarz-Milnor lemma to configuration spaces, a natural approach which we carry out successfully for the first time. As sample results, we prove that all right-angled Artin groups admit quasi-isometric embeddings into the group of area-preserving d…
We study a novel type of braid groups on a closed orientable surface $Σ$. These are fundamental groups of certain manifolds that are hybrids between symmetric products and configuration spaces of points on $Σ$; a class of examples arises naturally in gauge theory, as moduli spaces of vortices in toric fibre bundles over $Σ$. The elements of these braid groups, which we call divisor braids, have coloured strands that are allowed to intersect according to rules specified by a graph $Γ$. In situations where there is more than one strand of each colour, we show that the corresponding braid group a…
In this paper, we classify homomorphisms from the braid group of $n$ strands to the mapping class group of a genus $g$ surface. In particular, we show that when $g<n-2$, all representations are either cyclic or standard. Our result is sharp in the sense that when $g=n-2$, a generalization of the hyperelliptic representation appears, which is not cyclic or standard. This gives a classification of surface bundles over the configuration space of the complex plane. As a corollary, we partially recover the result of Aramayona-Souto, which classifies homomorphisms between mapping class groups, with …
For a smooth manifold M obtained as an embedding torus, A U Cx[-1,1], we consider the ordered configuration space F_k(M) of k distinct points in M. We show that there is a homotopical cubical resolution of F_k(M) defined from the configuration spaces of A and C. From it, we deduce a universal method for the computation of the pure braid groups of a manifold. We illustrate the method in the case of the Mobius band.
We study homological representations of mapping class groups, including the braid groups. These arise from the twisted homology of certain configuration spaces, and come in many different flavours. Our goal is to give a unified general account of the fundamental relationships (non-degenerate pairings, embeddings, isomorphisms) between the many different flavours of homological representations. Our motivating examples are the Lawrence-Bigelow representations of the braid groups, which are of central importance in the study of the braid groups themselves, as well as their connections with quantu…
If Gamma is any finite graph, then the unlabelled configuration space of n points on Gamma, denoted UC^n(Gamma), is the space of n-element subsets of Gamma. The braid group of Gamma on n strands is the fundamental group of UC^n(Gamma). We apply a discrete version of Morse theory to these UC^n(Gamma), for any n and any Gamma, and provide a clear description of the critical cells in every case. As a result, we can calculate a presentation for the braid group of any tree, for any number of strands. We also give a simple proof of a theorem due to Ghrist: the space UC^n(Gamma) strong deformation re…
We introduce a novel type of stabilization map on the configuration spaces of a graph, which increases the number of particles occupying an edge. There is an induced action on homology by the polynomial ring generated by the set of edges, and we show that this homology module is finitely generated. An analogue of classical homological and representation stability for manifolds, this result implies eventual polynomial growth of Betti numbers. We calculate the exact degree of this polynomial, in particular verifying an upper bound conjectured by Ramos. Because the action arises from a family of …
We construct an infinite tower of covering spaces over the configuration space of $n-1$ distinct non-zero points in the complex plane. This results in an action of the braid group $\mathbb{B}_n$ on the set of $n$-adic integers $\mathbb{Z}_n$ for all natural numbers $n\geq 2$. We study some of the properties of these actions such as continuity and transitivity. The construction of the actions involves a new way of associating to any braid $B$ an infinite sequence of braids, whose braid types are invariants of $B$. We present computations for the cases of $n=2$ and $n=3$ and use these to show th…
We consider the (pure) braid groups B_{n}(M) and P_{n}(M), where M is the 2-sphere S^2 or the real projective plane RP^2. We determine the minimal cardinality of (normal) generating sets X of these groups, first when there is no restriction on X, and secondly when X consists of elements of finite order. This improves on results of Berrick and Matthey in the case of S^2, and extends them in the case of RP^2. We begin by recalling the situation for the Artin braid groups. As applications of our results, we answer the corresponding questions for the associated mapping class groups, and we show th…
Let M be a compact, connected non-orientable surface without boundary and of genus g greater than or equal to 3. We investigate the pure braid groups P_n(M) of M, and in particular the possible splitting of the Fadell-Neuwirth short exact sequence 1 --> P_m(M {x_1,...,x_n}) --> P_{n+m}(M) --> P_n(M) --> 1, where m,n are positive integers, and the homomorphism p*:P_{n+m}(M) --> P_n(M) corresponds geometrically to forgetting the last m strings. This problem is equivalent to that of the existence of a section for the associated fibration p:F_{n+m}(M)} --> F_n(M) of configuration spaces, defined b…
We study the fixed point theory of n-valued maps of a space X using the fixed point theory of maps between X and its configuration spaces. We give some general results to decide whether an n-valued map can be deformed to a fixed point free n-valued map. In the case of surfaces, we provide an algebraic criterion in terms of the braid groups of X to study this problem. If X is either the k-dimensional ball or an even-dimensional real or complex projective space, we show that the fixed point property holds for n-valued maps for all n $\ge$ 1, and we prove the same result for even-dimensional sphe…
The total homology of the loop space of the configuration space of ordered distinct n points in R^m has a structure of a Hopf algebra defined by the 4-term relations if m>2. We describe a relation of between the cohomology of this loop space and the set of finite type invariants for the pure braid group with n strands. Based on this we give expressions of certain link invariants as integrals over cycles of the above loop space.
Given a manifold $M$ and a point in its interior, the point-pushing map describes a diffeomorphism that pushes the point along a closed path. This defines a homomorphism from the fundamental group of $M$ to the group of isotopy classes of diffeomorphisms of $M$ that fix the basepoint. This map is well-studied in dimension $d = 2$ and is part of the Birman exact sequence. Here we study, for any $d \geqslant 3$ and $k \geqslant 1$, the map from the $k$-th braid group of $M$ to the group of homotopy classes of homotopy equivalences of the $k$-punctured manifold $M \smallsetminus z$, and analyse i…
For any tangle $T$ (up to isotopy) and integer $k\geq 1$ we construct a group $F(T)$ (up to isomorphism). It is the fundamental group of the configuration space of $k$ points in a horizontal plane avoiding the tangle, provided the tangle is in what we call Heegaard position. This is analogous to the first half of Lawrence's homology construction of braid group representations. We briefly discuss the second half: homology groups of $F(T)$.
We examine the action of the fundamental group $Γ$ of a Riemann surface with $m$ punctures on the middle dimensional homology of a regular fiber in a Lefschetz fibration, and describe to what extent this action can be recovered from the intersection numbers of vanishing cycles. Basis changes for the vanishing cycles result in a nonlinear action of the framed braid group $\widetilde{\mathcal B}$ on $m$ strings on a suitable space of $m\times m$ matrices. This action is determined by a family of cohomologous 1-cocycles ${\mathcal S}_c:\widetilde{\mathcal B}\to GL_m({\mathbb{Z}}[Γ])$ parametrized…
We study the problem of determining the isomorphism classes of the virtually cyclic subgroups of the n-string braid groups B_n(S^2) of the 2-sphere S^2. If n is odd, or if n is even and sufficiently large, we obtain the complete classification. For small even values of n, the classification is complete up to an explicit finite number of open cases. In order to prove our main theorem, we obtain a number of other results of independent interest, notably the characterisation of the centralisers and normalisers of the finite cyclic and dicyclic subgroups of B_n(S^2), a result concerning conjugate …
This article surveys the use of configuration space integrals in the study of the topology of knot and link spaces. The main focus is the exposition of how these integrals produce finite type invariants of classical knots and links. More generally, we also explain the construction of a chain map, given by configuration space integrals, between a certain diagram complex and the deRham complex of the space of knots in dimension four or more. A generalization to spaces of links, homotopy links, and braids is also treated, as are connections to Milnor invariants, manifold calculus of functors, and…
We study the pure braid groups $P_n(RP^2)$ of the real projective plane $RP^2$, and in particular the possible splitting of the Fadell-Neuwirth short exact sequence $1 \to P_m(RP^2 {x_1,...,x_n} \to P_{n+m}(RP^2) \stackrel{p_{\ast}}{\to} P_n(RP^2) \to 1$, where $n\geq 2$ and $m\geq 1$, and $p_{\ast}$ is the homomorphism which corresponds geometrically to forgetting the last $m$ strings. This problem is equivalent to that of the existence of a section for the associated fibration $p: F_{n+m}(RP^2) \to F_n(RP^2)$ of configuration spaces. Van Buskirk proved in 1966 that $p$ and $p_{\ast}$ admit a…
For a real oriented hyperplane arrangement, we show that the corresponding Salvetti complex is homotopy equivalent to the complement of the complexified arrangement. This result was originally proved by M. Salvetti. Our proof follows the framework of a proof given by L. Paris and relies heavily on the notation of oriented matroids. We also show that homotopy equivalence is preserved when we quotient by the action of the corresponding reflection group. In particular, the Salvetti complex of the braid arrangement in $\ell$ dimensions modulo the action of the symmetric group is a cell complex whi…
This paper contains a suite of results concerning the problem of adding $m$ distinct new points to a configuration of $n$ distinct points on the Riemann sphere, such that the new points depend continuously on the old. Altogether, the results of the paper provide a complete answer to the following question: given $n \ne 5$, for which $m$ can one continuously add $m$ points to a configuration of $n$ points? For $n \ge 6$, we find that $m$ must be divisible by $n(n-1)(n-2)$, and we provide a construction based on the idea of cabling of braids. For $n = 3,4$, we give some exceptional constructions…
