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Robert Ghrist

Publications and source records attributed to Robert Ghrist.

50 records · Page 3Linked to original sources
arXiv2012

Cyclic Network Automata and Cohomological Waves

This paper considers a dynamic coverage problem for sensor networks that are sufficiently dense but not localized. Only a small fraction of sensors may be in an awake state at any given time. The goal is to find a decentralized protocol for establishing dynamic, sweeping barriers of awake-state sensors. Following Baryshnikov-Coffman-Kwak, we use network cyclic cellular automata to generate waves. This paper gives a rigorous analysis of network-based cyclic cellular automata in the context of a system of narrow hallways and shows that waves of awake-state nodes turn corners and automatically solve pusuit/evasion-type problems without centralized coordination. As a corollary of this work, we unearth some interesting topological interpretations of features previously observed in cyclic cellular automata (CCA). By considering CCA over networks and completing to simplicial complexes, we induce dynamics on the higher-dimensional complex. In this setting, waves are seen to be generated by topological defects with a nontrivial degree (or winding number). The simplicial complex has the topological type of the underlying map of the workspace (a subset of the plane), and the resulting waves can be classified cohomologically. This allows one to "program" pulses in the sensor network according to cohomology class. We give a realization theorem for such pulse waves.

math.AT↗
arXiv2012

Invariants for Homology Classes with Application to Optimal Search and Planning Problem in Robotics

We consider planning problems on a punctured Euclidean spaces, $\mathbb{R}^D - \widetilde{\mathcal{O}}$, where $\widetilde{\mathcal{O}}$ is a collection of obstacles. Such spaces are of frequent occurrence as configuration spaces of robots, where $\widetilde{\mathcal{O}}$ represent either physical obstacles that the robots need to avoid (e.g., walls, other robots, etc.) or illegal states (e.g., all legs off-the-ground). As state-planning is translated to path-planning on a configuration space, we collate equivalent plannings via topologically-equivalent paths. This prompts finding or exploring the different homology classes in such environments and finding representative optimal trajectories in each such class. In this paper we start by considering the problem of finding a complete set of easily computable homology class invariants for $(N-1)$-cycles in $(\mathbb{R}^D - \widetilde{\mathcal{O}})$. We achieve this by finding explicit generators of the $(N-1)^{st}$ de Rham cohomology group of this punctured Euclidean space, and using their integrals to define cocycles. The action of those dual cocycles on $(N-1)$-cycles gives the desired complete set of invariants. We illustrate the computation through examples. We further show that, due to the integral approach, this complete set of invariants is well-suited for efficient search-based planning of optimal robot trajectories with topological constraints. Finally we extend this approach to computation of invariants in spaces derived from $(\mathbb{R}^D - \widetilde{\mathcal{O}})$ by collapsing subspace, thereby permitting application to a wider class of non-Euclidean ambient spaces.

math.AT↗
arXiv2010

Euler-Bessel and Euler-Fourier Transforms

We consider a topological integral transform of Bessel (concentric isospectral sets) type and Fourier (hyperplane isospectral sets) type, using the Euler characteristic as a measure. These transforms convert constructible $\zed$-valued functions to continuous $\real$-valued functions over a vector space. Core contributions include: the definition of the topological Bessel transform; a relationship in terms of the logarithmic blowup of the topological Fourier transform; and a novel Morse index formula for the transforms. We then apply the theory to problems of target reconstruction from enumerative sensor data, including localization and shape discrimination. This last application utilizes an extension of spatially variant apodization (SVA) to mitigate sidelobe phenomena.

math.AT↗
arXiv2007

Rips Complexes of Planar Point Sets

Fix a finite set of points in Euclidean $n$-space $\euc^n$, thought of as a point-cloud sampling of a certain domain $D\subset\euc^n$. The Rips complex is a combinatorial simplicial complex based on proximity of neighbors that serves as an easily-computed but high-dimensional approximation to the homotopy type of $D$. There is a natural ``shadow'' projection map from the Rips complex to $\euc^n$ that has as its image a more accurate $n$-dimensional approximation to the homotopy type of $D$. We demonstrate that this projection map is 1-connected for the planar case $n=2$. That is, for planar domains, the Rips complex accurately captures connectivity and fundamental group data. This implies that the fundamental group of a Rips complex for a planar point set is a free group. We show that, in contrast, introducing even a small amount of uncertainty in proximity detection leads to `quasi'-Rips complexes with nearly arbitrary fundamental groups. This topological noise can be mitigated by examining a pair of quasi-Rips complexes and using ideas from persistent topology. Finally, we show that the projection map does not preserve higher-order topological data for planar sets, nor does it preserve fundamental group data for point sets in dimension larger than three.

math.GT↗
arXiv2003

Generic hydrodynamic instability of curl eigenfields

We prove that for generic geometry, the curl-eigenfield solutions to the steady Euler equations on the three torus are all hydrodynamically unstable (linear, L^2 norm). The proof involves a marriage of contact topological methods with the instability criterion of Friedlander-Vishik. An application of contact homology is the crucial step.

math.DS↗
arXiv2001

An index for closed orbits in Beltrami fields

We consider the class of Beltrami fields (eigenfields of the curl operator) on three-dimensional Riemannian solid tori: such vector fields arise as steady incompressible inviscid fluids and plasmas. Using techniques from contact geometry, we construct an integer-valued index for detecting closed orbits in the flow which are topologically inessential (they have winding number zero with respect to the solid torus). This index is independent of the Riemannian structure, and is computable entirely from a C^1 approximation to the vector field on any meridional disc of the solid torus.

math.DS↗
arXiv2000

Safe cooperative robot dynamics on graphs

This paper initiates the use of vector fields to design, optimize, and implement reactive schedules for safe cooperative robot patterns on planar graphs. We consider Automated Guided Vehicles (AGV's) operating upon a predefined network of pathways. In contrast to the case of locally Euclidean configuration spaces, regularization of collisions is no longer a local procedure, and issues concerning the global topology of configuration spaces must be addressed. The focus of the present inquiry is the achievement of safe, efficient, cooperative patterns in the simplest nontrivial example (a pair of robots on a Y-network) by means of a state-event heirarchical controller.

cs.RO↗
arXiv1999

Contact topology and hydrodynamics II: solid tori

We prove the existence of periodic orbits for steady $C^ω$ Euler flows on all Riemannian solid tori. By using the correspondence theorem from part I of this series, we reduce the problem to the Weinstein Conjecture for solid tori. We prove the Weinstein Conjecture on the solid torus via a combination of results due to Hofer et al. and a careful analysis of tight contact structures on solid tori.

math.SG↗
arXiv1999

Contact topology and hydrodynamics III: knotted flowlines

We employ the relationship between contact structures and Beltrami fields derived in part I of this series to construct steady nonsingular solutions to the Euler equations on a Riemannian $S^3$ whose flowlines trace out closed curves of all possible knot and link types simultaneously. Using careful contact-topological controls, we can make such vector fields real-analytic and transverse to the tight contact structure on $S^3$.

math-ph↗
arXiv1999

Configuration spaces and braid groups on graphs in robotics

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.

math.GT↗
arXiv1999

Gradient flows within plane fields

We consider the dynamics of vector fields on three-manifolds which are constrained to lie within a plane field, such as occurs in nonholonomic dynamics. On compact manifolds, such vector fields force dynamics beyond that of a gradient flow, except in cases where the underlying manifold is topologically simple. Furthermore, there are strong restrictions on the types of gradient flows realized within plane fields: such flows lie on the boundary of the space of nonsingular Morse-Smale flows. This relationship translates to knot-theoretic obstructions for the link of singularities in the flow. In the case of an integrable plane field, the restrictions are even finer, forcing taut foliations on surface bundles. The situation is completely different in the case of contact plane fields, however: it is easy to realize gradient fields within overtwisted contact structures (the nonintegrable analogue of a foliation with Reeb components).

math.DS↗
arXiv1998

Tight contact structures on 3-manifolds via dynamics

We consider the problem of realizing tight contact structures on closed orientable three-manifolds. By applying the theorems of Hofer et al., one may deduce tightness from dynamical properties of (Reeb) flows transverse to the contact structure. We detail how two classical constructions, Dehn surgery and branched covering, may be performed on dynamically-constrained links in such a way as to preserve a transverse tight contact structure.

math.DG↗
arXiv1997

From Morse-Smale to all knots and links

We analyse the topological (knot-theoretic) features of a certain codimension-one bifurcation of a partially hyperbolic fixed point in a flow on $\real^3$ originally described by Shil'nikov. By modifying how the invariant manifolds wrap around themselves, or ``pleat,'' we may apply the theory of templates, or branched two-manifolds, to capture the topology of the flow. This analysis yields a class of flows which bifurcate from a Morse-Smale flow to a Smale flow containing periodic orbits of all knot and link types.

math.DS↗