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DOI: 10.4230/LIPIcs.SoCG.2026.43

Unlabeled Multi-Robot Motion Planning with Improved Separation Trade-Offs

Authors: Tsuri Farhana, Omrit Filtser, and Shalev Goldshtein

Published in: LIPIcs, Volume 367, 42nd International Symposium on Computational Geometry (SoCG 2026)

Abstract

We study unlabeled multi-robot motion planning for unit-disk robots in a polygonal environment. Although the problem is hard in general, polynomial-time solutions exist under appropriate separation assumptions on start and target positions. Solovey et al. (RSS'15) provide a near-optimal solution assuming that start/target positions must have pairwise distance at least 4, and at least √5≈2.236 from obstacles. This raises the question of whether polynomial-time algorithms can be obtained in even more densely packed environments. In this paper we present a generalized algorithm that achieve different trade-offs on the robots-separation and obstacles-separation bounds, all significantly improving upon the state of the art. Specifically, we obtain polynomial-time constant-approximation algorithms to minimize the total path length when (i) the robots-separation is 2 2/3 and the obstacles-separation is 1 2/3, or (ii) the robots-separation is ≈3.291 and the obstacles-separation ≈1.354. Additionally, we introduce a different strategy yielding a polynomial-time solution when the robots-separation is only 2, and the obstacles-separation is 3. Finally, we show that without any robots-separation assumption, obstacles-separation of at least 1.5 may be necessary for a solution to exist.

Cite as

Tsuri Farhana, Omrit Filtser, and Shalev Goldshtein. Unlabeled Multi-Robot Motion Planning with Improved Separation Trade-Offs. In 42nd International Symposium on Computational Geometry (SoCG 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 367, pp. 43:1-43:16, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{farhana_et_al:LIPIcs.SoCG.2026.43,
  author =	{Farhana, Tsuri and Filtser, Omrit and Goldshtein, Shalev},
  title =	{{Unlabeled Multi-Robot Motion Planning with Improved Separation Trade-Offs}},
  booktitle =	{42nd International Symposium on Computational Geometry (SoCG 2026)},
  pages =	{43:1--43:16},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-418-5},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{367},
  editor =	{Ahn, Hee-Kap and Hoffmann, Michael and Nayyeri, Amir},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.SoCG.2026.43},
  URN =		{urn:nbn:de:0030-drops-258495},
  doi =		{10.4230/LIPIcs.SoCG.2026.43},
  annote =	{Keywords: multi-robot motion planning}
}

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DOI: 10.4230/LIPIcs.ISAAC.2025.6

A Dimension-Reducing Fréchet Simplification Oracle

Authors: Boris Aronov, Tsuri Farhana, Matthew J. Katz, and Indu Ramesh

Published in: LIPIcs, Volume 359, 36th International Symposium on Algorithms and Computation (ISAAC 2025)

Abstract

Let P be a polygonal curve with n vertices in the plane. We construct a data structure of size O(n log n) suited for simplification queries of the following kind. Given a query line 𝓁 and an integer k ≥ 1, find a curve Q on 𝓁 with at most k vertices that minimizes the discrete Fréchet distance to P, among all such curves. Using our data structure, a query can be handled in O(k² log³ n + k log⁴n) time. More generally, a geometric tree T on n vertices in the plane can be preprocessed into a near-linear-size structure so that, given a pair u, v of its vertices, a line 𝓁, and an integer k ≥ 1, one can find a curve Q on 𝓁 with at most k vertices that minimizes the discrete Fréchet distance to the path from u to v in T, in time O(k² polylog n). For the general dimension-reduction problem, where P is a curve in ℝ^d (d ≥ 3), 0 < ε₀ < 1 is a real parameter, and a query specifies a g-flat h (1 ≤ g ≤ d-1) and an integer k ≥ 1, we construct a data structure of size O(nlog n + f(ε₀) n), where f(ε₀) = (1+1/ε₀)^{(d-1)/2}, that allows us to find a curve Q on h with at most k vertices, whose discrete Fréchet distance to P is at most 1+ε₀ times the distance of Q^* to P, where Q^* is such a curve that minimizes the distance to P. The query handling time is O(f(ε₀) k² log² n).

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Boris Aronov, Tsuri Farhana, Matthew J. Katz, and Indu Ramesh. A Dimension-Reducing Fréchet Simplification Oracle. In 36th International Symposium on Algorithms and Computation (ISAAC 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 359, pp. 6:1-6:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{aronov_et_al:LIPIcs.ISAAC.2025.6,
  author =	{Aronov, Boris and Farhana, Tsuri and Katz, Matthew J. and Ramesh, Indu},
  title =	{{A Dimension-Reducing Fr\'{e}chet Simplification Oracle}},
  booktitle =	{36th International Symposium on Algorithms and Computation (ISAAC 2025)},
  pages =	{6:1--6:20},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-408-6},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{359},
  editor =	{Chen, Ho-Lin and Hon, Wing-Kai and Tsai, Meng-Tsung},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ISAAC.2025.6},
  URN =		{urn:nbn:de:0030-drops-249149},
  doi =		{10.4230/LIPIcs.ISAAC.2025.6},
  annote =	{Keywords: Computational geometry, discrete Fr\'{e}chet distance, curve simplification oracle, restricted minimum enclosing disk queries}
}

Document

DOI: 10.4230/LIPIcs.SoCG.2024.10

Discrete Fréchet Distance Oracles

Authors: Boris Aronov, Tsuri Farhana, Matthew J. Katz, and Indu Ramesh

Published in: LIPIcs, Volume 293, 40th International Symposium on Computational Geometry (SoCG 2024)

Abstract

It is unlikely that the discrete Fréchet distance between two curves of length n can be computed in strictly subquadratic time. We thus consider the setting where one of the curves, P, is known in advance. In particular, we wish to construct data structures (distance oracles) of near-linear size that support efficient distance queries with respect to P in sublinear time. Since there is evidence that this is impossible for query curves of length Θ(n^α), for any α > 0, we focus on query curves of (small) constant length, for which we are able to devise distance oracles with the desired bounds. We extend our tools to handle subcurves of the given curve, and even arbitrary vertex-to-vertex subcurves of a given geometric tree. That is, we construct an oracle that can quickly compute the distance between a short polygonal path (the query) and a path in the preprocessed tree between two query-specified vertices. Moreover, we define a new family of geometric graphs, t-local graphs (which strictly contains the family of geometric spanners with constant stretch), for which a similar oracle exists: we can preprocess a graph G in the family, so that, given a query segment and a pair u,v of vertices in G, one can quickly compute the smallest discrete Fréchet distance between the segment and any (u,v)-path in G. The answer is exact, if t = 1, and approximate if t > 1.

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Boris Aronov, Tsuri Farhana, Matthew J. Katz, and Indu Ramesh. Discrete Fréchet Distance Oracles. In 40th International Symposium on Computational Geometry (SoCG 2024). Leibniz International Proceedings in Informatics (LIPIcs), Volume 293, pp. 10:1-10:14, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024)

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@InProceedings{aronov_et_al:LIPIcs.SoCG.2024.10,
  author =	{Aronov, Boris and Farhana, Tsuri and Katz, Matthew J. and Ramesh, Indu},
  title =	{{Discrete Fr\'{e}chet Distance Oracles}},
  booktitle =	{40th International Symposium on Computational Geometry (SoCG 2024)},
  pages =	{10:1--10:14},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-316-4},
  ISSN =	{1868-8969},
  year =	{2024},
  volume =	{293},
  editor =	{Mulzer, Wolfgang and Phillips, Jeff M.},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.SoCG.2024.10},
  URN =		{urn:nbn:de:0030-drops-199554},
  doi =		{10.4230/LIPIcs.SoCG.2024.10},
  annote =	{Keywords: discrete Fr\'{e}chet distance, distance oracle, heavy-path decomposition, t-local graphs}
}

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Documents authored by Farhana, Tsuri

Unlabeled Multi-Robot Motion Planning with Improved Separation Trade-Offs

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A Dimension-Reducing Fréchet Simplification Oracle

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Discrete Fréchet Distance Oracles

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