If you are not using the Asset-Pipeline you can map static resources to URLs by following the steps laid out in the Grails Documentation. However your question is asking how to map a single resource to a single URL with the Asset-Pipeline plugin.
Burt Beckwith provided insight on the Grails forum a few years ago about Grail's role in serving static resources.
Grails doesn't serve static resources, the container does. So there's no way to directly configure a mapping - you need to serve it through a controller or configure a proxy as Eric suggests.
Burt
This answer may be unsatisfying. But if you must serve a static resource and absolutely do not want to use a controller or proxy you can try the following.
Create a view called image.gsp. The view will only contain an asset tag. Using your examples above,
<asset:image src="t1.png"/>
Then configure your URL mappings to point to the image.gsp
page.
class UrlMappings {
static mappings = {
...
"/t1.png" (view: "image")
...
}
}
I recognize this may not be the exact method you were hoping to use. But I think that understanding the role Grails plays vs. the container running Grails will help inform a decision to properly serve a resource to the user.
I know this may seem unrelated but if you want to create a page that lists the contents of a directory check out this post by CodePanda. His code can be used as a template to create a controller to serve a single file and he explains how to update the view, controller, and groovy.config.