TY - GEN

T1 - Motion planning for unlabeled discs with optimality guarantees

AU - Solovey, Kiril

AU - Yu, Jingjin

AU - Zamir, Or

AU - Halperin, Dan

N1 - Publisher Copyright:
© 2015, MIT Press Journals. All rights reserved.

PY - 2015

Y1 - 2015

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84962806235&partnerID=8YFLogxK

U2 - 10.15607/RSS.2015.XI.011

DO - 10.15607/RSS.2015.XI.011

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AN - SCOPUS:84962806235

T3 - Robotics: Science and Systems

BT - Robotics

A2 - Buchli, Jonas

A2 - Hsu, David

A2 - Kavraki, Lydia E.

PB - MIT Press

T2 - 2015 Robotics: Science and Systems Conference, RSS 2015

Y2 - 13 July 2015 through 17 July 2015

ER -