TY - GEN
T1 - Shortest Coordinated Motion for Square Robots
AU - Esteban, Guillermo
AU - Halperin, Dan
AU - Ruíz, Víctor
AU - Sacristán, Vera
AU - Silveira, Rodrigo I.
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.
PY - 2023
Y1 - 2023
N2 - We study the problem of determining minimum-length coordinated motions for two axis-aligned square robots translating in an obstacle-free plane: Given feasible start and goal configurations, find a continuous motion for the two squares from start to goal, comprising only robot-robot collision-free configurations, such that the total Euclidean distance traveled by the two squares is minimal among all possible such motions. We present an adaptation of the tools developed for the case of discs by Kirkpatrick and Liu [Characterizing minimum-length coordinated motions for two discs. Proceedings 28th CCCG, 252-259, 2016; CoRR abs/1607.04005, 2016.] to the case of squares. Certain aspects of the case of squares are more complicated, requiring additional and more involved arguments over the case of discs. Our contribution can serve as a basic component in optimizing the coordinated motion of two squares among obstacles, as well as for local planning in sampling-based algorithms, which are often used in practice, in the same setting.
AB - We study the problem of determining minimum-length coordinated motions for two axis-aligned square robots translating in an obstacle-free plane: Given feasible start and goal configurations, find a continuous motion for the two squares from start to goal, comprising only robot-robot collision-free configurations, such that the total Euclidean distance traveled by the two squares is minimal among all possible such motions. We present an adaptation of the tools developed for the case of discs by Kirkpatrick and Liu [Characterizing minimum-length coordinated motions for two discs. Proceedings 28th CCCG, 252-259, 2016; CoRR abs/1607.04005, 2016.] to the case of squares. Certain aspects of the case of squares are more complicated, requiring additional and more involved arguments over the case of discs. Our contribution can serve as a basic component in optimizing the coordinated motion of two squares among obstacles, as well as for local planning in sampling-based algorithms, which are often used in practice, in the same setting.
KW - Coordinated motions
KW - Geometric algorithms
KW - Motion planning
UR - http://www.scopus.com/inward/record.url?scp=85172731359&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-38906-1_28
DO - 10.1007/978-3-031-38906-1_28
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AN - SCOPUS:85172731359
SN - 9783031389054
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 430
EP - 443
BT - Algorithms and Data Structures - 18th International Symposium, WADS 2023, Proceedings
A2 - Morin, Pat
A2 - Suri, Subhash
PB - Springer Science and Business Media Deutschland GmbH
T2 - 18th International Symposium on Algorithms and Data Structures, WADS 2023
Y2 - 31 July 2023 through 2 August 2023
ER -