Efficient multi-robot motion planning for unlabeled discs in simple polygons

Aviv Adler, Mark de Berg, Dan Halperin, Kiril Solovey

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

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 (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.

Original languageEnglish
Title of host publicationAlgorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
EditorsH. Levent Akin, Nancy M. Amato, Volkan Isler, A. Frank van der Stappen
PublisherSpringer Verlag
Pages1-17
Number of pages17
ISBN (Print)9783319165943
DOIs
StatePublished - 2015
Event11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 - Istanbul, Turkey
Duration: 3 Aug 20145 Aug 2014

Publication series

NameSpringer Tracts in Advanced Robotics
Volume107
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Conference

Conference11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
Country/TerritoryTurkey
CityIstanbul
Period3/08/145/08/14

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