On the hardness of unlabeled multi-robot motion planning

Kiril Solovey; Dan Halperin

doi:10.15607/RSS.2015.XI.046

On the hardness of unlabeled multi-robot motion planning

Kiril Solovey, Dan Halperin

School of Computer Science

Tel Aviv University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In unlabeled multi-robot motion planning several interchangeable robots operate in a common workspace. The goal is to move the robots to a set of target positions such that each position will be occupied by some robot. In this paper, we study this problem for the specific case of unit-square robots moving amidst polygonal obstacles and show that it is PSPACE-hard. We also consider three additional variants of this problem and show that they are all PSPACE-hard as well. To the best of our knowledge, this is the first hardness proof for the unlabeled case. Furthermore, our proofs can be used to show that the labeled variant (where each robot is assigned with a specific target position), again, for unit-square robots, is PSPACE-hard as well, which sets another precedence, as previous hardness results require the robots to be of different shapes.

Original language	English
Title of host publication	Robotics
Subtitle of host publication	Science and Systems XI, RSS 2015
Editors	Jonas Buchli, David Hsu, Lydia E. Kavraki
Publisher	MIT Press Journals
ISBN (Electronic)	9780992374716
DOIs	https://doi.org/10.15607/RSS.2015.XI.046
State	Published - 2015
Event	2015 Robotics: Science and Systems Conference, RSS 2015 - Rome, Italy Duration: 13 Jul 2015 → 17 Jul 2015

Publication series

Name	Robotics: Science and Systems
Volume	11

Conference

Conference	2015 Robotics: Science and Systems Conference, RSS 2015
Country/Territory	Italy
City	Rome
Period	13/07/15 → 17/07/15

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

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10.15607/RSS.2015.XI.046

Cite this

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title = "On the hardness of unlabeled multi-robot motion planning",

abstract = "In unlabeled multi-robot motion planning several interchangeable robots operate in a common workspace. The goal is to move the robots to a set of target positions such that each position will be occupied by some robot. In this paper, we study this problem for the specific case of unit-square robots moving amidst polygonal obstacles and show that it is PSPACE-hard. We also consider three additional variants of this problem and show that they are all PSPACE-hard as well. To the best of our knowledge, this is the first hardness proof for the unlabeled case. Furthermore, our proofs can be used to show that the labeled variant (where each robot is assigned with a specific target position), again, for unit-square robots, is PSPACE-hard as well, which sets another precedence, as previous hardness results require the robots to be of different shapes.",

author = "Kiril Solovey and Dan Halperin",

year = "2015",

doi = "10.15607/RSS.2015.XI.046",

language = "الإنجليزيّة",

series = "Robotics: Science and Systems",

publisher = "MIT Press Journals",

editor = "Jonas Buchli and David Hsu and Kavraki, \{Lydia E.\}",

booktitle = "Robotics",

address = "الولايات المتّحدة",

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AU - Halperin, Dan

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AB - In unlabeled multi-robot motion planning several interchangeable robots operate in a common workspace. The goal is to move the robots to a set of target positions such that each position will be occupied by some robot. In this paper, we study this problem for the specific case of unit-square robots moving amidst polygonal obstacles and show that it is PSPACE-hard. We also consider three additional variants of this problem and show that they are all PSPACE-hard as well. To the best of our knowledge, this is the first hardness proof for the unlabeled case. Furthermore, our proofs can be used to show that the labeled variant (where each robot is assigned with a specific target position), again, for unit-square robots, is PSPACE-hard as well, which sets another precedence, as previous hardness results require the robots to be of different shapes.

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U2 - 10.15607/RSS.2015.XI.046

DO - 10.15607/RSS.2015.XI.046

M3 - منشور من مؤتمر

T3 - Robotics: Science and Systems

BT - Robotics

A2 - Buchli, Jonas

A2 - Hsu, David

A2 - Kavraki, Lydia E.

PB - MIT Press Journals

T2 - 2015 Robotics: Science and Systems Conference, RSS 2015

Y2 - 13 July 2015 through 17 July 2015

ER -

On the hardness of unlabeled multi-robot motion planning

Abstract

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Conference

All Science Journal Classification (ASJC) codes

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