This paper examines the approach taken by team gitastrophe in the CG:SHOP 2021 challenge. The challenge was to find a sequence of simultaneous moves of square robots between two given configurations that minimized either total distance travelled or makespan (total time). Our winning approach has two main components: an initialization phase that finds a good initial solution, and a k-opt local search phase which optimizes this solution. This led to a first place finish in the distance category and a third place finish in the makespan category.
@article{arxiv.2103.15062,
title = {Coordinated Motion Planning Through Randomized k-Opt},
author = {Paul Liu and Jack Spalding-Jamieson and Brandon Zhang and Da Wei Zheng},
journal= {arXiv preprint arXiv:2103.15062},
year = {2021}
}