Efficient multi-robot motion planning for unlabeled discs in simple polygons (Extended abstract)

A. Adler, M.T. Berg, de, D. Halperin, K. Solovey

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

77 Citations (Scopus)
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Abstract

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 $O(mn+m^2)$ 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 multi-robot motion planning problem for discs moving in a simple polygon, which is known to be strongly NP-hard.
Original languageEnglish
Title of host publicationProceedings of the30th European Workshop on Computational Geometry (EuroCG 2014), Ein-Gedi, Israel, March 3-5, 2014)
Pages1-4
Publication statusPublished - 2014
Event30th European Workshop on Computational Geometry (EuroCG 2014) - Dead Sea, Israel
Duration: 3 Mar 20145 Mar 2014
Conference number: 30
https://www.cs.bgu.ac.il/~eurocg14/

Workshop

Workshop30th European Workshop on Computational Geometry (EuroCG 2014)
Abbreviated titleEuroCG 2014
CountryIsrael
CityDead Sea
Period3/03/145/03/14
Internet address

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