Topology of random -dimensional cubical complexes

We study a natural model of a random $2$ -dimensional cubical complex which is a subcomplex of an n-dimensional cube, and where every possible square $2$ -face is included independently with probability p. Our main result exhibits a sharp threshold $p=1/2$ for homology vanishing as $n \to \infty $ . This is a $2$ -dimensional analogue of the Burtin and Erdoős–Spencer theorems characterising the connectivity threshold for random graphs on the $1$ -skeleton of the n-dimensional cube. Our main result can also be seen as a cubical counterpart to the Linial–Meshulam theorem for random $2$ -dimensional simplicial complexes. However, the models exhibit strikingly different behaviours. We show that if $p> 1 - \sqrt {1/2} \approx 0.2929$ , then with high probability the fundamental group is a free group with one generator for every maximal $1$ -dimensional face. As a corollary, homology vanishing and simple connectivity have the same threshold, even in the strong ‘hitting time’ sense. This is in contrast with the simplicial case, where the thresholds are far apart. The proof depends on an iterative algorithm for contracting cycles – we show that with high probability, the algorithm rapidly and dramatically simplifies the fundamental group, converging after only a few steps.

The configuration space of a robotic arm in a tunnel of width 2

International audience We study the motion of a robotic arm inside a rectangular tunnel of width 2. We prove that the configuration space S of all possible positions of the robot is a CAT(0) cubical complex. Before this work, very few families of robots were known to have CAT(0) configuration spaces. This property allows us to move the arm optimally from one position to another.

The combinatorics of CAT(0) cubical complexes

International audience Given a reconfigurable system $X$, such as a robot moving on a grid or a set of particles traversing a graph without colliding, the possible positions of $X$ naturally form a cubical complex $\mathcal{S}(X)$. When $\mathcal{S}(X)$ is a CAT(0) space, we can explicitly construct the shortest path between any two points, for any of the four most natural metrics: distance, time, number of moves, and number of steps of simultaneous moves. CAT(0) cubical complexes are in correspondence with posets with inconsistent pairs (PIPs), so we can prove that a state complex $\mathcal{S}(X)$ is CAT(0) by identifying the corresponding PIP. We illustrate this very general strategy with one known and one new example: Abrams and Ghrist's ``positive robotic arm" on a square grid, and the robotic arm in a strip. We then use the PIP as a combinatorial ``remote control" to move these robots efficiently from one position to another.

Applications to discrete Morse theory: The collapsibility of CAT(0) cubical complexes of dimension 2 and 3

We investigate, using discrete Morse theory, the collapsibility of finite cubical complexes of dimension 2 and 3. Our main result states that any finite cubical complex of dimension 3 or less endowed with the standard piecewise Euclidean metric that is non-positively curved, and that satisfies the property that every 2-cell is the face of at most two 3-cells in the complex, collapses to a point.