@inproceedings{21f101df87dd435b9411cc5203a158ce,

title = "Efficient multi-robot motion planning for unlabeled discs in simple polygons",

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.",

author = "Aviv Adler and {de Berg}, Mark and Dan Halperin and Kiril Solovey",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; null ; Conference date: 03-08-2014 Through 05-08-2014",

year = "2015",

doi = "10.1007/978-3-319-16595-0_1",

language = "אנגלית",

isbn = "9783319165943",

series = "Springer Tracts in Advanced Robotics",

publisher = "Springer Verlag",

pages = "1--17",

editor = "{Levent Akin}, H. and Amato, {Nancy M.} and Volkan Isler and {van der Stappen}, {A. Frank}",

booktitle = "Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014",

}