Multi-robot motion planning of k-colored discs is PSPACE-hard

Thomas Brocken, G. Wessel van der Heijden, Irina Kostitsyna, Lloyd E. Lo-Wong, Remco J.A. Surtel

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

In the problem of multi-robot motion planning, a group of robots, placed in a polygonal domain with obstacles, must be moved from their starting positions to a set of target positions. We consider the specific case of unlabeled disc robots of two different sizes. That is, within one class of robots, where a class is given by the robots' size, any robot can be moved to any of the corresponding target positions. We prove that the decision problem of whether there exists a schedule moving the robots to the target positions is PSPACE-hard.

Original languageEnglish
Title of host publication10th International Conference on Fun with Algorithms, FUN 2021
EditorsMartin Farach-Colton, Giuseppe Prencipe, Ryuhei Uehara
PublisherSchloss Dagstuhl - Leibniz-Zentrum für Informatik
ISBN (Electronic)9783959771450
DOIs
Publication statusPublished - 1 Sep 2020
Event10th International Conference on Fun with Algorithms, FUN 2021 - Favignana Island, Sicily, Italy
Duration: 30 May 20211 Jun 2021

Publication series

NameLeibniz International Proceedings in Informatics, LIPIcs
Volume157
ISSN (Print)1868-8969

Conference

Conference10th International Conference on Fun with Algorithms, FUN 2021
Country/TerritoryItaly
CityFavignana Island, Sicily
Period30/05/211/06/21

Keywords

  • Algorithmic complexity
  • Disc-robot motion planning
  • PSPACE-hard

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