# Algebraic Path Planning of 6R/P Manipulators [6RP_2016]

### Project Lead

### Project Duration

11/01/2016 - 10/01/2020### Project URL

Go to Website## Members

## Jose Capco

## Partners

### The Austrian Science Fund (FWF)

## Publications

### 2019

### Sum of Squares over Rationals

#### J. Capco, C. Scheiderer

RISC. Technical report, 2019. [url] [pdf]@

author = {J. Capco and C. Scheiderer},

title = {{Sum of Squares over Rationals}},

language = {english},

abstract = {Recently it has been shown that a multivariate (homogeneous) polynomialwith rational coefficients that can be written as a sum of squares offorms with real coefficients, is not necessarily a sum of squares offorms with rational coefficients. Essentially, only one constructionfor such forms is known, namely taking the $K/\Q$-norm of a sufficientlygeneral form with coefficients in a number field $K$. Whether thisconstruction yields a form with the desired properties depends onGalois-theoretic properties of $K$ that are not yet well understood.We construct new families of examples, and we shed new light on somewell-known open questions.},

year = {2019},

institution = {RISC},

length = {0},

url = {https://www3.risc.jku.at/~jcapco/public_files/ss18/sosq.html}

}

**techreport**{RISC5884,author = {J. Capco and C. Scheiderer},

title = {{Sum of Squares over Rationals}},

language = {english},

abstract = {Recently it has been shown that a multivariate (homogeneous) polynomialwith rational coefficients that can be written as a sum of squares offorms with real coefficients, is not necessarily a sum of squares offorms with rational coefficients. Essentially, only one constructionfor such forms is known, namely taking the $K/\Q$-norm of a sufficientlygeneral form with coefficients in a number field $K$. Whether thisconstruction yields a form with the desired properties depends onGalois-theoretic properties of $K$ that are not yet well understood.We construct new families of examples, and we shed new light on somewell-known open questions.},

year = {2019},

institution = {RISC},

length = {0},

url = {https://www3.risc.jku.at/~jcapco/public_files/ss18/sosq.html}

}

### 2018

### The Number of Realizations of a Laman Graph

#### Jose Capco, Matteo Gallet, Georg Grasegger, Christoph Koutschan, Niels Lubbes, Josef Schicho

SIAM Journal on Applied Algebra and Geometry 2(1), pp. 94-125. 2018. 2470-6566. [url]@

author = {Jose Capco and Matteo Gallet and Georg Grasegger and Christoph Koutschan and Niels Lubbes and Josef Schicho},

title = {{The Number of Realizations of a Laman Graph}},

language = {english},

journal = {SIAM Journal on Applied Algebra and Geometry},

volume = {2},

number = {1},

pages = {94--125},

isbn_issn = {2470-6566},

year = {2018},

refereed = {yes},

length = {32},

url = {https://doi.org/10.1137/17M1118312}

}

**article**{RISC5700,author = {Jose Capco and Matteo Gallet and Georg Grasegger and Christoph Koutschan and Niels Lubbes and Josef Schicho},

title = {{The Number of Realizations of a Laman Graph}},

language = {english},

journal = {SIAM Journal on Applied Algebra and Geometry},

volume = {2},

number = {1},

pages = {94--125},

isbn_issn = {2470-6566},

year = {2018},

refereed = {yes},

length = {32},

url = {https://doi.org/10.1137/17M1118312}

}

### 2017

### The number of realizations of a Laman graph

#### Jose Capco, Georg Grasegger, Matteo Gallet, Christoph Koutschan, Niels Lubbes, Josef Schicho

Research Institute for Symbolic Computation (RISC/JKU). Technical report, 2017. [url] [pdf]@

author = {Jose Capco and Georg Grasegger and Matteo Gallet and Christoph Koutschan and Niels Lubbes and Josef Schicho},

title = {{The number of realizations of a Laman graph}},

language = {english},

abstract = {Laman graphs model planar frameworks that are rigid for a general choice of distances between the vertices. There are finitely many ways, up to isometries, to realize a Laman graph in the plane. Such realizations can be seen as solutions of systems of quadratic equations prescribing the distances between pairs of points. Using ideas from algebraic and tropical geometry, we provide a recursion formula for the number of complex solutions of such systems. },

year = {2017},

institution = {Research Institute for Symbolic Computation (RISC/JKU)},

length = {42},

url = {http://www.koutschan.de/data/laman/}

}

**techreport**{RISC5418,author = {Jose Capco and Georg Grasegger and Matteo Gallet and Christoph Koutschan and Niels Lubbes and Josef Schicho},

title = {{The number of realizations of a Laman graph}},

language = {english},

abstract = {Laman graphs model planar frameworks that are rigid for a general choice of distances between the vertices. There are finitely many ways, up to isometries, to realize a Laman graph in the plane. Such realizations can be seen as solutions of systems of quadratic equations prescribing the distances between pairs of points. Using ideas from algebraic and tropical geometry, we provide a recursion formula for the number of complex solutions of such systems. },

year = {2017},

institution = {Research Institute for Symbolic Computation (RISC/JKU)},

length = {42},

url = {http://www.koutschan.de/data/laman/}

}

### Computing the number of realizations of a Laman graph

#### Jose Capco, Georg Grasegger, Matteo Gallet, Christoph Koutschan, Niels Lubbes, Josef Schicho

In: Electronic Notes in Discrete Mathematics (Proceedings of Eurocomb 2017), Vadim Lozin (ed.), Proceedings of The European Conference on Combinatorics, Graph Theory and Applications (EUROCOMB'17)61, pp. 207-213. 2017. ISSN 1571-0653. [url]@

author = {Jose Capco and Georg Grasegger and Matteo Gallet and Christoph Koutschan and Niels Lubbes and Josef Schicho},

title = {{Computing the number of realizations of a Laman graph}},

booktitle = {{Electronic Notes in Discrete Mathematics (Proceedings of Eurocomb 2017)}},

language = {english},

abstract = {Laman graphs model planar frameworks which are rigid for a general choice of distances between the vertices. There are finitely many ways, up to isometries, to realize a Laman graph in the plane. In a recent paper we provide a recursion formula for this number of realizations using ideas from algebraic and tropical geometry. Here, we present a concise summary of this result focusing on the main ideas and the combinatorial point of view.},

volume = {61},

pages = {207--213},

isbn_issn = {ISSN 1571-0653},

year = {2017},

editor = {Vadim Lozin},

refereed = {yes},

keywords = {Laman graph; minimally rigid graph; tropical geometry; euclidean embedding; graph realization},

length = {7},

conferencename = {The European Conference on Combinatorics, Graph Theory and Applications (EUROCOMB'17)},

url = {http://www.koutschan.de/data/laman/}

}

**inproceedings**{RISC5478,author = {Jose Capco and Georg Grasegger and Matteo Gallet and Christoph Koutschan and Niels Lubbes and Josef Schicho},

title = {{Computing the number of realizations of a Laman graph}},

booktitle = {{Electronic Notes in Discrete Mathematics (Proceedings of Eurocomb 2017)}},

language = {english},

abstract = {Laman graphs model planar frameworks which are rigid for a general choice of distances between the vertices. There are finitely many ways, up to isometries, to realize a Laman graph in the plane. In a recent paper we provide a recursion formula for this number of realizations using ideas from algebraic and tropical geometry. Here, we present a concise summary of this result focusing on the main ideas and the combinatorial point of view.},

volume = {61},

pages = {207--213},

isbn_issn = {ISSN 1571-0653},

year = {2017},

editor = {Vadim Lozin},

refereed = {yes},

keywords = {Laman graph; minimally rigid graph; tropical geometry; euclidean embedding; graph realization},

length = {7},

conferencename = {The European Conference on Combinatorics, Graph Theory and Applications (EUROCOMB'17)},

url = {http://www.koutschan.de/data/laman/}

}