2020/04/25 by Brocken, Thomas, van der Heijden, G. Wessel, Kostitsyna, Irina +2 · 1 citation
#Computational Geometry (cs.CG) #FOS: Computer and information sciences
paper · doi:10.48550/arxiv.2004.12144
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.