%PDF-1.4 % 1 0 obj << /S /GoTo /D (section.1) >> endobj 4 0 obj (Introduction) endobj 5 0 obj << /S /GoTo /D (subsection.1.1) >> endobj 8 0 obj (Previous Work) endobj 9 0 obj << /S /GoTo /D (section.2) >> endobj 12 0 obj (Topological representations) endobj 13 0 obj << /S /GoTo /D (subsection.2.1) >> endobj 16 0 obj (Writhe matrix and scalar) endobj 17 0 obj << /S /GoTo /D (subsection.2.2) >> endobj 20 0 obj (Interaction mesh) endobj 21 0 obj << /S /GoTo /D (section.3) >> endobj 24 0 obj (Optimal control combining topological and configuration space representations) endobj 25 0 obj << /S /GoTo /D (subsection.3.1) >> endobj 28 0 obj (Approximate Inference Control) endobj 29 0 obj << /S /GoTo /D (subsection.3.2) >> endobj 32 0 obj (Expressing motion priors in topological spaces and coupling spaces) endobj 33 0 obj << /S /GoTo /D (subsection.3.3) >> endobj 36 0 obj (End-state posterior estimation) endobj 37 0 obj << /S /GoTo /D (section.4) >> endobj 40 0 obj (Generalization and remapping using a topological space) endobj 41 0 obj << /S /GoTo /D (section.5) >> endobj 44 0 obj (Experiments) endobj 45 0 obj << /S /GoTo /D (subsection.5.1) >> endobj 48 0 obj (Rope unwrapping and reaching using writhe space) endobj 49 0 obj << /S /GoTo /D (subsection.5.2) >> endobj 52 0 obj (Dynamic reaching through a loop using writhe and interaction mesh) endobj 53 0 obj << /S /GoTo /D (subsection.5.3) >> endobj 56 0 obj (Dynamic obstacle avoidance using interaction mesh space) endobj 57 0 obj << /S /GoTo /D (section.6) >> endobj 60 0 obj (Conclusions) endobj 61 0 obj << /S /GoTo /D [62 0 R /Fit ] >> endobj 70 0 obj << /Length 4274 /Filter /FlateDecode >> stream xڝZ[r~_GjDM̛oq|N;H)R!)ʿ>u7(JIj@7Kp_ޅ~ba⠈xdANj<deu+Ui:NPMS5{U }^me{jvϟ(S$ɃMݩsk%{L3EaPҙ֑1Auȇni揳pEF61.s[$$+T]u:}ceҥ(+hO7g{^?;aVi`+^~8]sg^npЭ~Ze$#m~~E~t= D4EPd&c9LT0Y