TY - GEN
T1 - Efficient multi-robot motion planning for unlabeled discs in simple polygons
AU - Adler, Aviv
AU - de Berg, Mark
AU - Halperin, Dan
AU - Solovey, Kiril
N1 - Funding Information: The work has been carried out in part during Aviv Adler’s visit to Tel Aviv University, enabled by the generous Melvin M. Goldberg Fellowship for Research in Israel. Publisher Copyright: © Springer International Publishing Switzerland 2015.
PY - 2015
Y1 - 2015
N2 - We consider the following motion-planning problem: we are given m unit discs in a simple polygon with n vertices, each at their own start position, and we want to move the discs to a given set of m target positions. Contrary to the standard (labeled) version of the problem, each disc is allowed to be moved to any target position, as long as in the end every target position is occupied. We show that this unlabeled version of the problem can be solved in O (n log n + mn + m2) time, assuming that the start and target positions are at least some minimal distance from each other. This is in sharp contrast to the standard (labeled) and more general multirobot motion planning problem for discs moving in a simple polygon, which is known to be strongly np-hard.
AB - We consider the following motion-planning problem: we are given m unit discs in a simple polygon with n vertices, each at their own start position, and we want to move the discs to a given set of m target positions. Contrary to the standard (labeled) version of the problem, each disc is allowed to be moved to any target position, as long as in the end every target position is occupied. We show that this unlabeled version of the problem can be solved in O (n log n + mn + m2) time, assuming that the start and target positions are at least some minimal distance from each other. This is in sharp contrast to the standard (labeled) and more general multirobot motion planning problem for discs moving in a simple polygon, which is known to be strongly np-hard.
UR - https://www.scopus.com/pages/publications/84946051757
U2 - 10.1007/978-3-319-16595-0_1
DO - 10.1007/978-3-319-16595-0_1
M3 - Conference contribution
SN - 9783319165943
T3 - Springer Tracts in Advanced Robotics
SP - 1
EP - 17
BT - Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
A2 - Levent Akin, H.
A2 - Amato, Nancy M.
A2 - Isler, Volkan
A2 - van der Stappen, A. Frank
T2 - 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
Y2 - 3 August 2014 through 5 August 2014
ER -