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.
@article{arxiv.2004.12144,
title = {Multi-robot motion planning of k-colored discs is PSPACE-hard},
author = {Thomas Brocken and G. Wessel van der Heijden and Irina Kostitsyna and Lloyd E. Lo-Wong and Remco J. A. Surtel},
journal= {arXiv preprint arXiv:2004.12144},
year = {2020}
}
Comments
To appear in the 10th International Conference on Fun with Algorithms (FUN 2020)