{"id":"https://openalex.org/W1837811515","doi":"https://doi.org/10.1177/0278364915586713","title":"Topological trajectory classification with filtrations of simplicial complexes and persistent homology","display_name":"Topological trajectory classification with filtrations of simplicial complexes and persistent homology","publication_year":2015,"publication_date":"2015-08-21","ids":{"openalex":"https://openalex.org/W1837811515","doi":"https://doi.org/10.1177/0278364915586713","mag":"1837811515"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915586713","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915586713","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/20.500.11820/80fa1756-cb6c-4b60-9e4a-b85a2f43f600","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018027629","display_name":"Florian T. Pokorny","orcid":"https://orcid.org/0000-0003-1114-6040"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Florian T. Pokorny","raw_affiliation_strings":["Centre for Autonomous Systems, CAS/CVAP, KTH Royal Institute of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, CAS/CVAP, KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021151663","display_name":"Majd Hawasly","orcid":"https://orcid.org/0000-0003-1823-5580"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Majd Hawasly","raw_affiliation_strings":["IPAB, School of Informatics, University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IPAB, School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071122608","display_name":"Subramanian Ramamoorthy","orcid":"https://orcid.org/0000-0002-6300-5103"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Subramanian Ramamoorthy","raw_affiliation_strings":["IPAB, School of Informatics, University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IPAB, School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018027629"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":4.3605,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.94522441,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"35","issue":"1-3","first_page":"204","last_page":"223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12536","display_name":"Topological and Geometric Data Analysis","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12536","display_name":"Topological and Geometric Data Analysis","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.975600004196167,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10799","display_name":"Data Visualization and Analytics","score":0.9463000297546387,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/persistent-homology","display_name":"Persistent homology","score":0.822981059551239},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.6530735492706299},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.6263940334320068},{"id":"https://openalex.org/keywords/topological-data-analysis","display_name":"Topological data analysis","score":0.613278865814209},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.586369514465332},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5337387323379517},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5261176228523254},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46175241470336914},{"id":"https://openalex.org/keywords/homology","display_name":"Homology (biology)","score":0.43786904215812683},{"id":"https://openalex.org/keywords/simplicial-complex","display_name":"Simplicial complex","score":0.43228480219841003},{"id":"https://openalex.org/keywords/social-connectedness","display_name":"Social connectedness","score":0.4231172204017639},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41846227645874023},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4036003649234772},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36436158418655396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33459198474884033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.31354355812072754},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.23618918657302856},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.19021070003509521}],"concepts":[{"id":"https://openalex.org/C2874115","wikidata":"https://www.wikidata.org/wiki/Q17099562","display_name":"Persistent homology","level":2,"score":0.822981059551239},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.6530735492706299},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6263940334320068},{"id":"https://openalex.org/C2776477805","wikidata":"https://www.wikidata.org/wiki/Q4460773","display_name":"Topological data analysis","level":2,"score":0.613278865814209},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.586369514465332},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5337387323379517},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5261176228523254},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46175241470336914},{"id":"https://openalex.org/C165525559","wikidata":"https://www.wikidata.org/wiki/Q224180","display_name":"Homology (biology)","level":3,"score":0.43786904215812683},{"id":"https://openalex.org/C187929450","wikidata":"https://www.wikidata.org/wiki/Q994399","display_name":"Simplicial complex","level":2,"score":0.43228480219841003},{"id":"https://openalex.org/C201943243","wikidata":"https://www.wikidata.org/wiki/Q7551008","display_name":"Social connectedness","level":2,"score":0.4231172204017639},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41846227645874023},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4036003649234772},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36436158418655396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33459198474884033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.31354355812072754},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.23618918657302856},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.19021070003509521},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/0278364915586713","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915586713","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:pure.ed.ac.uk:ec_fundedresources/80fa1756-cb6c-4b60-9e4a-b85a2f43f600","is_oa":false,"landing_page_url":"http://hdl.handle.net/20.500.11820/80fa1756-cb6c-4b60-9e4a-b85a2f43f600","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:pure.ed.ac.uk:openaire/80fa1756-cb6c-4b60-9e4a-b85a2f43f600","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/80fa1756-cb6c-4b60-9e4a-b85a2f43f600","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Pokorny, F T, Hawasly, M & Ramamoorthy, S 2016, 'Topological trajectory classification with filtrations of simplicial complexes and persistent homology', International Journal of Robotics Research, vol. 35, no. 1-3, pp. 204-223. https://doi.org/10.1177/0278364915586713","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.ed.ac.uk:publications/80fa1756-cb6c-4b60-9e4a-b85a2f43f600","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/80fa1756-cb6c-4b60-9e4a-b85a2f43f600","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Pokorny, F T, Hawasly, M & Ramamoorthy, S 2016, 'Topological trajectory classification with filtrations of simplicial complexes and persistent homology', International Journal of Robotics Research, vol. 35, no. 1-3, pp. 204-223. https://doi.org/10.1177/0278364915586713","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/80fa1756-cb6c-4b60-9e4a-b85a2f43f600","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/80fa1756-cb6c-4b60-9e4a-b85a2f43f600","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Pokorny, F T, Hawasly, M & Ramamoorthy, S 2016, 'Topological trajectory classification with filtrations of simplicial complexes and persistent homology', International Journal of Robotics Research, vol. 35, no. 1-3, pp. 204-223. https://doi.org/10.1177/0278364915586713","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W74625404","https://openalex.org/W101508493","https://openalex.org/W181649851","https://openalex.org/W225875858","https://openalex.org/W578585133","https://openalex.org/W783341876","https://openalex.org/W1424654272","https://openalex.org/W1496383623","https://openalex.org/W1515762908","https://openalex.org/W1516027685","https://openalex.org/W1531225991","https://openalex.org/W1563088657","https://openalex.org/W1569898588","https://openalex.org/W1638373997","https://openalex.org/W1746819321","https://openalex.org/W1836948486","https://openalex.org/W1971086298","https://openalex.org/W1971315778","https://openalex.org/W1976436266","https://openalex.org/W1977219675","https://openalex.org/W1979273469","https://openalex.org/W1991566301","https://openalex.org/W2018705428","https://openalex.org/W2033013465","https://openalex.org/W2033709107","https://openalex.org/W2034801091","https://openalex.org/W2065367476","https://openalex.org/W2065833332","https://openalex.org/W2066527628","https://openalex.org/W2072195747","https://openalex.org/W2078290150","https://openalex.org/W2094827274","https://openalex.org/W2097944783","https://openalex.org/W2101496914","https://openalex.org/W2110541499","https://openalex.org/W2111285461","https://openalex.org/W2117828438","https://openalex.org/W2128990851","https://openalex.org/W2129904086","https://openalex.org/W2129935141","https://openalex.org/W2145313322","https://openalex.org/W2148642357","https://openalex.org/W2153504150","https://openalex.org/W2153986241","https://openalex.org/W2157439141","https://openalex.org/W2157878484","https://openalex.org/W2160419405","https://openalex.org/W2163145488","https://openalex.org/W2163178194","https://openalex.org/W2164205216","https://openalex.org/W2187925611","https://openalex.org/W2295237948","https://openalex.org/W2295417718","https://openalex.org/W2486762503","https://openalex.org/W2611243847","https://openalex.org/W2672072329","https://openalex.org/W2963265143","https://openalex.org/W3013843370","https://openalex.org/W3040586665","https://openalex.org/W3100454378","https://openalex.org/W3140579943","https://openalex.org/W3145543370","https://openalex.org/W4211008118","https://openalex.org/W4211049957","https://openalex.org/W4233690291","https://openalex.org/W4242811155","https://openalex.org/W4246329541","https://openalex.org/W4254294894"],"related_works":["https://openalex.org/W2886923060","https://openalex.org/W2887690685","https://openalex.org/W2129730857","https://openalex.org/W4287394697","https://openalex.org/W3119689987","https://openalex.org/W2921099552","https://openalex.org/W4386275707","https://openalex.org/W4321471594","https://openalex.org/W2143193809","https://openalex.org/W3214553362"],"abstract_inverted_index":{"In":[0],"this":[1,124],"work,":[2],"we":[3,58,121],"present":[4,176],"a":[5,55,60,87,93,118,166,197],"sampling-based":[6,41],"approach":[7,22,77,125,181],"to":[8,25,48,126,140,171],"trajectory":[9,89,133],"classification":[10,95],"which":[11,45,83],"enables":[12],"automated":[13],"high-level":[14],"reasoning":[15],"about":[16,51],"topological":[17,88],"classes":[18],"of":[19,35,54,63,65,73,102,108,129,152,179],"trajectories.":[20],"Our":[21,76],"is":[23,84],"applicable":[24],"general":[26],"configuration":[27,56,100,162,188],"spaces":[28,101,189],"and":[29,105,111,135,186,192,200],"relies":[30],"only":[31],"on":[32,71,156,160],"the":[33,52,66,161],"availability":[34],"collision":[36,67],"free":[37,68],"samples.":[38],"Unlike":[39],"previous":[40],"approaches":[42],"in":[43,99,113,142,182,190,193],"robotics":[44],"use":[46],"graphs":[47],"capture":[49,202],"information":[50,82],"path-connectedness":[53],"space,":[57,163],"construct":[59],"multiscale":[61,94],"approximation":[62],"neighborhoods":[64],"configurations":[69],"based":[70,155],"filtrations":[72],"simplicial":[74,153],"complexes.":[75],"thereby":[78],"extracts":[79],"additional":[80,173],"homological":[81],"essential":[85],"for":[86,97,106],"classification.":[90],"We":[91,145,175],"propose":[92],"algorithm":[96],"trajectories":[98,109,130],"arbitrary":[103,158],"dimension":[104],"sets":[107,128],"starting":[110],"ending":[112],"two":[114],"fixed":[115],"points.":[116],"Using":[117],"cone":[119],"construction,":[120],"then":[122],"generalize":[123],"classify":[127],"even":[131],"when":[132],"start":[134],"end":[136],"points":[137],"are":[138],"allowed":[139],"vary":[141],"path-connected":[143],"subsets.":[144],"furthermore":[146],"show":[147],"how":[148],"an":[149,157,177],"augmented":[150],"filtration":[151],"complexes":[154],"function":[159],"such":[164],"as":[165],"costmap,":[167],"can":[168],"be":[169],"defined":[170],"incorporate":[172],"constraints.":[174],"evaluation":[178],"our":[180],"2-,":[183],"3-,":[184],"4-":[185],"6-dimensional":[187],"simulation":[191],"real-world":[194],"experiments":[195],"using":[196],"Baxter":[198],"robot":[199],"motion":[201],"data.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}