robert ghrist

applied topology

click on the links to download preprints...

all versions are pre-publication drafts with eventual publication citations as listed

the author gratefully acknowledges the support of DARPA, the NSF, the AFOSR, and the ONR; of course, that doesn't mean they endorse what is written. neither does the university of pennsylvania. in fact, i don't think anyone except me and a few coauthors endorse the opinions expressed in these works. and even then, it's not a slam-dunk.

**GEOMETRIC/TOPOLOGICAL ROBOTICS**

- [2013] S. Bhattacharya, R. Ghrist, and V. Kumar, "Multirobot coverage and exploration on Riemannian manifolds with boundary", to appear,
*Intl. J. Robotics. Res.* - [2012] R. Ghrist, D. Lipsky, J. Derenick, and A. Speranzon, “Topological landmark-based navigation and mapping”, preprint.
- [2012] S. Bhattachayra, R. Ghrist, and V. Kumar, “Multi-robot Coverage and Exploration on Riemannian Manifolds with Boundary”, preprint.
- [2012] Y. Cai and R. Ghrist, “Cyclic network automata and cohomological waves”, preprint.
- [2012] S. Bhattachayra, D. Lipsky, R. Ghrist, and V. Kumar, “Homology Classes of Cycles in Punctured Euclidean Spaces”, preprint.
- [2011] M. Katsev, A. Yershova, B. Tovar, R. Ghrist, and S. LaValle, “Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot,”
*IEEE Transactions on Robotics*, to appear. - [2010] S. Alexander, R. Bishop, and R. Ghrist, "Total curvature and simple pursuit on domains of curvature bounded above,"
*Geom. Dedicata*, DOI 10.1007/s10711-010-9481-z. - [2010] R. Ghrist, “Configuration spaces, braids, and robotics,”
*Lecture Note Series, Inst. Math. Sci., NUS*, vol. 19, World Scientific, 263-304. - [2009] S. Alexander, R. Bishop, and R. Ghrist, "Capture pursuit games on unbounded domains,"
*Ensiegn. Math.*, 55, 103-125. - [2008] Y. Baryshnikov and R. Ghrist, “Target enumeration via integration over planar sensor networks,” in
*Proc. Robotics: Science & Systems.*

- [2008] J. Jung and R. Ghrist, “Pareto optimal multi-robot coordination with acceleration constraints,” in
*Proc. Intl. Conf. Robotics & Automation.* - [2007] R. Ghrist, “Winding numbers for networks with weak angular data,” in
*Topology and Robotics*, Contemporary Mathematics, AMS. - [2007] R. Ghrist and V. Peterson, “The geometry and topology of reconfiguration,”
*Adv. Appl. Math.*, 38, 302–323. - [2006] V. de Silva and R. Ghrist, “Coordinate-free coverage in sensor networks with controlled boundaries,”
*Intl. J. Robotics Research*, 25(12), 1205-1222. - [2006] R. Ghrist and S. LaValle, “Nonpositive curvature and Pareto optimal motion planning,”
*SIAM J. Control & Opt.*, 45(5), 1697-1713. - [2006] E. Klavins, R. Ghrist, and D. Lipsky, “The graph grammatical approach to self-organizing robotic systems,”
*IEEE Trans. Automatic Controls*, 51(6), 949-962. - [2005] R. Ghrist, J. O'Kane, and S. LaValle, “Computing Pareto-optimal coordinations on roadmaps,”
*Intl. J. Robotics Research*, 12(11), 997-1010. - [2006] R. Ghrist, D. Lipsky, S. Poduri, and G. Sukhatme, “Node isolation in coordinate-free networks,'' in Proc. Workshop on Algorithmic Foundations of Robotics.

- [2006] S. Alexander, R. Bishop, and R. Ghrist, “Pursuit and evasion on nonconvex domains of arbitrary dimensions,'' in Proc. Robotics: Science & Systems.
- [2005] A. Yershova, B. Tovar, R. Ghrist, and S. LaValle, “Bitbots: Simple robots solving complex tasks,'' in Proc. AAAI.

- [2005] V. de Silva, R. Ghrist, and A. Muhammad, “Blind swarms for coverage in 2-d,'' in Proc. Robotics, Systems and Science.
- [2004] A. Abrams and R. Ghrist, “State complexes for metamorphic robots,”
*Intl. J. Robotics Research*, 23(7,8), 809-824. - [2004] R. Ghrist, J. O'Kane, and S. LaValle, “Pareto optimal coordination on roadmaps,'' in
*Proc. Workshop on Algorithmic Foundations of Robotics*, 2004.

- [2004] R. Ghrist, and D. Lipsky, “Grammatical self-assembly for planar tiles,'' in
*Proc. Intl. Conf. on MEMS, Nano, and Smart Systems*.

- [2004] E. Klavins, R. Ghrist, and D. Lipsky, “Graph grammars for self-assembling robot systems,'' in
*Proc. Intl. Conf. on Robotics & Automation*. - [2002] R. Ghrist and D. Koditschek, “Safe cooperative robot dynamics on graphs,”
*SIAM J. Cont. & Opt.*, 40(5), 1556-1575. - [2002] A. Abrams and R. Ghrist, “Finding topology in a factory: configuration space,”
*Amer. Math. Monthly*, 109, 140-150. - [2002] R. Ghrist, “Shape complexes for metamorphic robots,'' in
*Algorithmic Foundations of Robotics*V, J. Boissonnat et al. eds., STAR 7, Springer, 185-201. - [2002] R. Ghrist and R. Komendarczyk, “Topological features of inviscid flows,” in
*Introduction to the Geometry and Topology of Fluid Flows*, NATO-ASI Series II, vol. 47, Kluwer Press, 183-202. - [2001] R. Ghrist, “Configuration spaces of graphs and robotics,” in
*Braids, Links, and Mapping Class Groups: the Proceedings of Joan Birman's 70th Birthday*, AMS/IP Studies in Mathematics, vol. 24, 29-40. - [1999] R. Ghrist and D. Koditschek, “Safe Cooperative Robot Dynamics on Graphs,'' in
*Hybrid Systems and AI: Modeling, Analysis and Control of Discrete and Continuous Systems, AAAI*, SS-99-05, 65-70.