License: Creative Commons Attribution 3.0 Unported license (CC BY 3.0)
When quoting this document, please refer to the following
DOI: 10.4230/LIPIcs.FUN.2021.15
URN: urn:nbn:de:0030-drops-127769
URL: http://dagstuhl.sunsite.rwth-aachen.de/volltexte/2020/12776/
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Brocken, Thomas ; van der Heijden, G. Wessel ; Kostitsyna, Irina ; Lo-Wong, Lloyd E. ; Surtel, Remco J. A.

Multi-Robot Motion Planning of k-Colored Discs Is PSPACE-Hard

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LIPIcs-FUN-2021-15.pdf (0.9 MB)

Abstract

In the problem of multi-robot motion planning, a group of robots, placed in a polygonal domain with obstacles, must be moved from their starting positions to a set of target positions. We consider the specific case of unlabeled disc robots of two different sizes. That is, within one class of robots, where a class is given by the robots' size, any robot can be moved to any of the corresponding target positions. We prove that the decision problem of whether there exists a schedule moving the robots to the target positions is PSPACE-hard.

BibTeX - Entry

@InProceedings{brocken_et_al:LIPIcs:2020:12776,
  author =	{Thomas Brocken and G. Wessel van der Heijden and Irina Kostitsyna and Lloyd E. Lo-Wong and Remco J. A. Surtel},
  title =	{{Multi-Robot Motion Planning of k-Colored Discs Is PSPACE-Hard}},
  booktitle =	{10th International Conference on Fun with Algorithms (FUN 2021)},
  pages =	{15:1--15:16},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-145-0},
  ISSN =	{1868-8969},
  year =	{2020},
  volume =	{157},
  editor =	{Martin Farach-Colton and Giuseppe Prencipe and Ryuhei Uehara},
  publisher =	{Schloss Dagstuhl--Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/opus/volltexte/2020/12776},
  URN =		{urn:nbn:de:0030-drops-127769},
  doi =		{10.4230/LIPIcs.FUN.2021.15},
  annote =	{Keywords: Disc-robot motion planning, algorithmic complexity, PSPACE-hard}
}

Keywords: Disc-robot motion planning, algorithmic complexity, PSPACE-hard
Collection: 10th International Conference on Fun with Algorithms (FUN 2021)
Issue Date: 2020
Date of publication: 16.09.2020

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