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 - 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 - http://www.scopus.com/inward/record.url?scp=84946051757&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-16595-0_1

DO - 10.1007/978-3-319-16595-0_1

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AN - SCOPUS:84946051757

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

PB - Springer Verlag

T2 - 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014

Y2 - 3 August 2014 through 5 August 2014

ER -