2019 Workshop on

Topological Methods in Robot Planning

2019 International Conference on Robotics and Automation (ICRA)
May 20-24, Montreal, Canada.
Subhrajit Bhattacharya
Lehigh University
Florian T. Pokorny
KTH Royal Institute of Technology
Vijay Kumar
University of Pennsylvania

Workshop Details

Date: Friday, 24 May 2019.
Time: 8:30-12:30.
Location/Room: 518c (at the Palais des congrès de Montréal )

[ICRA conference registration] [ICRA workshop schedules]


Over the past several years algebraic and differential topology have been used extensively in a variety of problems in robotics. Topological invariants have been used to reason about shapes of configuration spaces. Invariants have also been used to develop algorithms for computing optimal solutions in topologically distinct classes in configuration spaces, with direct application to multi-robot exploration problems and in systems involving flexible cables. Representation as simplicial complexes has transcended the traditional graph representations in context of sensor networks, making way for new methods in reasoning about the shape of configuration spaces and in developing effective coverage algorithms. With advances in persistent homology algorithms, topological data analysis techniques have been used on large data sets (such as 3D point clouds in context of visual mapping) and sensor networks for identification and classification of spaces based on their topology.

This workshop is aimed at bringing together a diverse group of people who are working at the frontier of application of topological techniques to solving problems related to robotics, perception and automation. The goal of the workshop is not only dissemination of new ideas related to topological methods, but also to encourage intellectual exchange through discussions and collaborations across the discipline.

Call for Posters


Duration Speaker and Affiliation Title of Talk
10 mins Welcome and Overview of the Workshop
20 mins Dr. Florian T. Pokorny
KTH Royal Institute of Technology, Sweden.
Data-Driven Topological Methods for Reasoning about Motion
[PDF slides]
20 mins Dr. Subhrajit Bhattacharya
Lehigh University, U.S.A.
Recent Advances in Topological Path Planning
[PDF slides]
20 mins Dr. Maxim Likachev,
Carnegie Mellon University, U.S.A.
Computation and Use of Topology-based Heuristic Functions for Motion Planning
[PDF slides]
20 mins Dr. Howie Choset
Carnegie Mellon University, U.S.A.
Use of Topology in Optimal Motion Planning
(presented by Ramkumar Natarajan)
[PPTX slides]
20 mins Poster Spotlight Session
30 mins Poster Session and Coffee Break
20 mins Dr. Ross A. Knepper,
Cornell University, U.S.A.
Braids and Other Representations for Multi-Agent Social Navigation
[PDF slides]
20 mins Dr. Adrià Colomé Figueras
Institut de Robotica i Informatica Industrial, Spain
Combining topology and machine learning in cloth perception and manipulation by robots
20 mins Dr. Alberto Speranzon
Honeywell, U.S.A.
Uncooperative Topological Mapping
20 mins Dr. Daniel C. Cohen
Lousiana State University, U.S.A.
Topological complexity of surfaces and related configuration spaces
[PDF slides]
20 mins Discussion and Concluding Remarks

Post-workshop Announcements