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arXiv · 2004.12144

Multi-robot motion planning of k-colored discs is PSPACE-hard

Thomas Brocken·G. Wessel van der Heijden·Irina Kostitsyna·Lloyd E. Lo-Wong·Remco J. A. Surtel
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Abstract

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.

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Thomas Brocken, G. Wessel van der Heijden, Irina Kostitsyna, Lloyd E. Lo-Wong, Remco J. A. Surtel. 2020-04-25. Multi-robot motion planning of k-colored discs is PSPACE-hard. https://arxiv.org/abs/2004.12144

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