arXiv subjects

Peter Franek

Publications and source records attributed to Peter Franek.

12 recordsLinked to original sources

arXiv2017

Proving the existence of loops in robot trajectories

This paper presents a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key points in SLAM methods, especially in homogeneous environments with difficult scenes recognitions. The proposed approach is generic and could be coupled with conventional SLAM algorithms to reliably reduce their computing burden, thus improving the localization and mapping processes in the most challenging environments such as unexplored underwater extents. To prove that a robot performed a loop whatever the uncertainties in its evolution, we employ the notion of topological degree that originates in the field of differential topology. We show that a verification tool based on the topological degree is an optimal method for proving robot loops. This is demonstrated both on datasets from real missions involving autonomous underwater vehicles, and by a mathematical discussion.

cs.RO↗

arXiv2017

Computing simplicial representatives of homotopy group elements

A central problem of algebraic topology is to understand the homotopy groups $\pi_d(X)$ of a topological space $X$. For the computational version of the problem, it is well known that there is no algorithm to decide whether the fundamental group $\pi_1(X)$ of a given finite simplicial complex $X$ is trivial. On the other hand, there are several algorithms that, given a finite simplicial complex $X$ that is simply connected (i.e., with $\pi_1(X)$ trivial), compute the higher homotopy group $\pi_d(X)$ for any given $d\geq 2$. %The first such algorithm was given by Brown, and more recently, \v{C}adek et al. However, these algorithms come with a caveat: They compute the isomorphism type of $\pi_d(X)$, $d\geq 2$ as an \emph{abstract} finitely generated abelian group given by generators and relations, but they work with very implicit representations of the elements of $\pi_d(X)$. Converting elements of this abstract group into explicit geometric maps from the $d$-dimensional sphere $S^d$ to $X$ has been one of the main unsolved problems in the emerging field of computational homotopy theory. Here we present an algorithm that, given a~simply connected space $X$, computes $\pi_d(X)$ and represents its elements as simplicial maps from a suitable triangulation of the $d$-sphere $S^d$ to $X$. For fixed $d$, the algorithm runs in time exponential in $size(X)$, the number of simplices of $X$. Moreover, we prove that this is optimal: For every fixed $d\geq 2$, we construct a family of simply connected spaces $X$ such that for any simplicial map representing a generator of $\pi_d(X)$, the size of the triangulation of $S^d$ on which the map is defined, is exponential in $size(X)$.

cs.CG↗

arXiv2016

Quasi-decidability of a Fragment of the First-order Theory of Real Numbers

In this paper we consider a fragment of the first-order theory of the real numbers that includes systems of equations of continuous functions in bounded domains, and for which all functions are computable in the sense that it is possible to compute arbitrarily close piece-wise interval approximations. Even though this fragment is undecidable, we prove that there is a (possibly non-terminating) algorithm for checking satisfiability such that (1) whenever it terminates, it computes a correct answer, and (2) it always terminates when the input is robust. A formula is robust, if its satisfiability does not change under small perturbations. As a basic tool for our algorithm we use the notion of degree from the field of (differential) topology.

cs.CC↗

arXiv2016

Solving equations and optimization problems with uncertainty

We study the problem of detecting zeros of continuous functions that are known only up to an error bound, extending the earlier theoretical work with explicit algorithms and experiments with an implementation. More formally, the robustness of zero of a continuous map $f: X\to \mathbb{R}^n$ is the maximal $r>0$ such that each $g:X\to\mathbb{R}^n$ with $\|f-g\|_\infty\le r$ has a zero. We develop and implement an efficient algorithm approximating the robustness of zero. Further, we show how to use the algorithm for approximating worst-case optima in optimization problems in which the feasible domain is defined by equations that are only known approximately. An important ingredient is an algorithm for deciding the topological extension problem based on computing cohomological obstructions to extendability and their persistence. We describe an explicit algorithm for the primary and secondary obstruction, two stages of a sequence of algorithms with increasing complexity. We provide experimental evidence that for random Gaussian fields, the primary obstruction---a much less computationally demanding test than the secondary obstruction---is typically sufficient for approximating robustness of zero.

cs.CG↗

arXiv2015

Persistence of Zero Sets

We study robust properties of zero sets of continuous maps $f:X\to\mathbb{R}^n$. Formally, we analyze the family $Z_r(f)=\{g^{-1}(0):\,\,\|g-f\| 0$ simultaneously, the pointed cohomotopy groups form a persistence module---a structure leading to the persistence diagrams as in the case of \emph{persistent homology} or \emph{well groups}. Eventually, we get a descriptor of persistent robust properties of zero sets that has better descriptive power (Theorem A) and better computability status (Theorem B) than the established well diagrams. Moreover, if we endow every point of each zero set with gradients of the perturbation, the robust description of the zero sets by elements of cohomotopy groups is in some sense the best possible (Theorem C).

math.AT↗

arXiv2015

On Computability and Triviality of Well Groups

The concept of well group in a special but important case captures homological properties of the zero set of a continuous map $f:K\to R^n$ on a compact space K that are invariant with respect to perturbations of f. The perturbations are arbitrary continuous maps within $L_\infty$ distance r from f for a given r>0. The main drawback of the approach is that the computability of well groups was shown only when dim K=n or n=1. Our contribution to the theory of well groups is twofold: on the one hand we improve on the computability issue, but on the other hand we present a range of examples where the well groups are incomplete invariants, that is, fail to capture certain important robust properties of the zero set. For the first part, we identify a computable subgroup of the well group that is obtained by cap product with the pullback of the orientation of R^n by f. In other words, well groups can be algorithmically approximated from below. When f is smooth and dim K<2n-2, our approximation of the (dim K-n)th well group is exact. For the second part, we find examples of maps $f,f': K\to R^n$ with all well groups isomorphic but whose perturbations have different zero sets. We discuss on a possible replacement of the well groups of vector valued maps by an invariant of a better descriptive power and computability status.

math.AT↗

arXiv2014

Effective Topological Degree Computation Based on Interval Arithmetic

We describe a new algorithm for calculating the topological degree deg (f, B, 0) where B \subseteq Rn is a product of closed real intervals and f : B \rightarrow Rn is a real-valued continuous function given in the form of arithmetical expressions. The algorithm cleanly separates numerical from combinatorial computation. Based on this, the numerical part provably computes only the information that is strictly necessary for the following combinatorial part, and the combinatorial part may optimize its computation based on the numerical information computed before. We also present computational experiments based on an implementation of the algorithm. Also, in contrast to previous work, the algorithm does not assume knowledge of a Lipschitz constant of the function f, and works for arbitrary continuous functions for which some notion of interval arithmetic can be defined.

cs.CG↗

arXiv2014

Robust Satisfiability of Systems of Equations

We study the problem of \emph{robust satisfiability} of systems of nonlinear equations, namely, whether for a given continuous function $f:\,K\to\mathbb{R}^n$ on a~finite simplicial complex $K$ and $α>0$, it holds that each function $g:\,K\to\mathbb{R}^n$ such that $\|g-f\|_\infty \leq α$, has a root in $K$. Via a reduction to the extension problem of maps into a sphere, we particularly show that this problem is decidable in polynomial time for every fixed $n$, assuming $\dim K \le 2n-3$. This is a substantial extension of previous computational applications of \emph{topological degree} and related concepts in numerical and interval analysis. Via a reverse reduction we prove that the problem is undecidable when $\dim K\ge 2n-2$, where the threshold comes from the \emph{stable range} in homotopy theory. For the lucidity of our exposition, we focus on the setting when $f$ is piecewise linear. Such functions can approximate general continuous functions, and thus we get approximation schemes and undecidability of the robust satisfiability in other possible settings.

cs.CC↗

arXiv2013

Symmetries of Quasi-Values

According to Shapley's game-theoretical result, there exists a unique game value of finite cooperative games that satisfies axioms on additivity, efficiency, null-player property and symmetry. The original setting requires symmetry with respect to arbitrary permutations of players. We analyze the consequences of weakening the symmetry axioms and study quasi-values that are symmetric with respect to permutations from a group $G\leq S_n$. We classify all the permutation groups $G$ that are large enough to assure a unique $G$-symmetric quasi-value, as well as the structure and dimension of the space of all such quasi-values for a general permutation group $G$. We show how to construct $G$-symmetric quasi-values algorithmically by averaging certain basic quasi-values (marginal operators).

cs.GT↗

arXiv2011

Hyperplane section $\mathbb{OP}^2_0$ of the complex Cayley plane as the homogeneous space $\mathrm{F_4/P_4}$

We prove that the exceptional complex Lie group $F_4$ has a transitive action on the hyperplane section of the complex Cayley plane $\mathbb{OP}^2$. Our proof is direct and constructive. We use an explicit realization of the vector and spin actions of $\Spin(9,\C) \leq F_4$. Moreover, we identify the stabilizer of the $F_4$-action as a parabolic subgroup $P_4$ (with Levi factor $B_3T_1$) of the complex Lie group $F_4$. In the real case we obtain an analogous realization of $F_4^{(-20)}/P_4$.

math.AG↗

arXiv2007

Generalized Dolbeault sequences in parabolic geometry

In this paper, we show the existence of a sequence of invariant differential operators on a particular homogeneous model $G/P$ of a Cartan geometry. The first operator in this sequence can be locally identified with the Dirac operator in $k$ Clifford variables, $D=(D_1,..., D_k)$, where $D_i=\sum_j e_j\cdot \partial_{ij}: C^\infty((\R^n)^k,§)\to C^\infty((\R^n)^k,§)$. We describe the structure of these sequences in case the dimension $n$ is odd. It follows from the construction that all these operators are invariant with respect to the action of the group $G$. These results are obtained by constructing homomorphisms of generalized Verma modules, what are purely algebraic objects.

math.DG↗

arXiv2007

Several Dirac Operator in parabolic geometry

In this thesis, we show the existence of a sequence of differential operators starting with with the Dirac operator in k Clifford variables, $D=(D_1,..., D_k)$, where $D_i=\sum_j e_j\cdot \partial_{ij}: C^\infty((\R^n)^k,§)\to C^\infty((\R^n)^k,§)$ ($§$ is the spinor module). This operator is the Cauchy-Riemann operator for n=2 and its resolution is the Dolbeault complex. For higher n, the resolution of D is not known in general. While this problem was treated many times in the language of Clifford analysis and some partial results are known, we give a description of this operator in Parabolic geometry, which is a special type of Cartan geometry modeled on $G/P$, where P is a Parabolic subgroup of G. We construct sequences of invariant differential operators starting with the Dirac operator in several variables and assume that these sequences coinside in some cases with the resolution. We describe the structure of these sequences precisely in case the dimension $n$ is odd and give a conjecture that these sequences have similar structure for n even, $k\leq n/2$ (the s.c. {\it stable range}). We also give some information about these sequences in case n even, k>n/2. In the last chapter, explicite formulas for the operators are derived for the case k=2.

math.DG↗