Motion planning for unlabeled discs with optimality guarantees

Kiril Solovey, Jingjin Yu, Or Zamir, Dan Halperin

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


We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths of the individual paths. Our algorithm is guaranteed to find a solution if one exists, or report that none exists otherwise. It runs in time Õ(m4 + m2n2), where m is the number of robots and n is the total complexity of the workspace. Moreover, the total length of the returned solution is at most OPT+4m, where OPT is the optimal solution cost. To the best of our knowledge this is the first algorithm for the problem that has such guarantees. The algorithm has been implemented in an exact manner and we present experimental results that attest to its efficiency.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationScience and Systems XI, RSS 2015
EditorsJonas Buchli, David Hsu, Lydia E. Kavraki
PublisherMIT Press
ISBN (Electronic)9780992374716
StatePublished - 2015
Event2015 Robotics: Science and Systems Conference, RSS 2015 - Rome, Italy
Duration: 13 Jul 201517 Jul 2015

Publication series

NameRobotics: Science and Systems
ISSN (Electronic)2330-765X


Conference2015 Robotics: Science and Systems Conference, RSS 2015


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