Robot motion planning, weights of cohomology classes, and cohomology operations

Authors:
Michael Farber and Mark Grant

Journal:
Proc. Amer. Math. Soc. **136** (2008), 3339-3349

MSC (2000):
Primary 55M99; Secondary 68T40

Published electronically:
April 25, 2008

MathSciNet review:
2407101

Full-text PDF Free Access

Abstract | References | Similar Articles | Additional Information

Abstract: The complexity of algorithms solving the motion planning problem is measured by a homotopy invariant of the configuration space of the system. Previously known lower bounds for use the structure of the cohomology algebra of . In this paper we show how cohomology operations can be used to sharpen these lower bounds for . As an application of this technique we calculate explicitly the topological complexity of various lens spaces. The results of the paper were inspired by the work of E. Fadell and S. Husseini on weights of cohomology classes appearing in the classical lower bounds for the Lusternik-Schnirelmann category. In the appendix to this paper we give a very short proof of a generalized version of their result.

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Additional Information

**Michael Farber**

Affiliation:
Department of Mathematical Sciences, Durham University, South Road, Durham DH1 3LE, England

Email:
michael.farber@durham.ac.uk

**Mark Grant**

Affiliation:
Department of Mathematical Sciences, Durham University, South Road, Durham DH1 3LE, England

Email:
mark.grant@durham.ac.uk

DOI:
http://dx.doi.org/10.1090/S0002-9939-08-09529-4

Keywords:
Topological complexity,
weights of cohomology classes,
category weight,
cohomology operations,
lens spaces.

Received by editor(s):
April 23, 2007

Published electronically:
April 25, 2008

Additional Notes:
The authors were supported by a grant from the UK Engineering and Physical Sciences Research Council; the first author was also supported by a grant from the Royal Society.

Communicated by:
Mikhail Shubin

Article copyright:
© Copyright 2008
American Mathematical Society

The copyright for this article reverts to public domain 28 years after publication.