by Carl Pierer
This column last month, here, provided a first glimpse at the fascinating field of braids. Beneath their obvious beauty – to which their widespread aesthetic use bears testimony – lies a deep complexity. They allow for explorations of many beautiful areas of mathematics. They branch into topology, group theory, and geometry, to give some examples. The previous essay explored the theoretical side of braids, the most important results of which were:
- A mathematical concept of braids: Consisting of a certain number of strands n, say, together with a specification of how and where these strands cross each other. Furthermore, these strands (if they are not crossing) run parallel and we may adopt the convention that they are running from top to bottom. To avoid ambiguity, we require further that there are no two crossings at the same horizontal level. It is clear that for the braid to have any crossings at all, it must have at least two strands. If a braid does not have any crossings, it is called the trivial braid.
- The word problem: Thus defined, a braid can be represented with a description of how the strands cross each other. Let σI mean the ith strand is crossing over the i+1th strand and a negative power, σi-1 (read: sigma i inverse), mean the ith strand crosses under the i+1th strand. Then, a description of a braid using σI's is called a braid word. The problem is: given two braids, how can we decide whether they are the same? More particularly, given a braid, how do we determine whether it is trivial?
- A solution to the word problem: The method of handle reduction. If a braid contains handles, it can be reduced. If the braid is the same as the trivial braid, this algorithm will return the trivial braid. If the braid is not trivial, this algorithm will return an equivalent braid that does not contain any handles.
It ended there with a very cursory glance at the connection between braids and dances. This idea deserves to be dealt with in greater depth, for it is not only in the abstract spheres of pure mathematics that braids demonstrate a fascinating depth. Rather surprisingly, their mathematical properties find unexpected applications to the more practical problems of motion planning for robots.
