2026-07-22T14:09:42Z https://drops.dagstuhl.de/oai

oai:drops-oai.dagstuhl.de:12776 2024-03-06T10:49:09Z ddc:004 open_access

Multi-Robot Motion Planning of k-Colored Discs Is PSPACE-Hard Brocken, Thomas van der Heijden, G. Wessel Kostitsyna, Irina Lo-Wong, Lloyd E. Surtel, Remco J. A. Disc-robot motion planning algorithmic complexity PSPACE-hard 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. Schloss Dagstuhl – Leibniz-Zentrum für Informatik Thomas Brocken and G. Wessel van der Heijden and Irina Kostitsyna and Lloyd E. Lo-Wong and Remco J. A. Surtel 2020 Is Part Of LIPIcs, Volume 157, 10th International Conference on Fun with Algorithms (FUN 2021) (2020) InProceedings Text doc-type:ResearchArticle publishedVersion application/pdf doi:10.4230/LIPIcs.FUN.2021.15 urn:nbn:de:0030-drops-127769 https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.FUN.2021.15 eng https://creativecommons.org/licenses/by/3.0/legalcode