JF Proceedings 35th Annual Symposium on Foundations of Computer Science

YR 1994

VO 00

IS

SP 511

TI Motion planning on a graph

A1 C.H. Papadimitriou,

A1 H. Tamaki,

A1 M. Sudan,

A1 P. Raghavan,

K1 complexity

K1 motion planning

K1 undirected graph

K1 vertices

K1 mobile robot

K1 single movable obstacle

K1 vertex

K1 simple abstraction

K1 adjacencies

AB We are given a connected, undirected graph G on n vertices. There is a mobile robot on one of the vertices; this vertex is labeled s. Each of several other vertices contains a single movable obstacle. The robot and the obstacles may only reside at vertices, although they may be moved across edges. A vertex may never contain more than one object (robot/obstacle). In one step, we may move either the robot or one of the obstacles from its current position /spl upsi/ to a vacant vertex adjacent to v. Our goal is to move the robot to a designated vertex t using the smallest number of steps possible. The problem is a simple abstraction of a robot motion planning problem, with the geometry replaced by the adjacencies in the graph. We point out its connections to robot motion planning. We study its complexity, giving exact and approximate algorithms for several cases.

PB IEEE Computer Society, [URL:http://www.computer.org]

SN

LA English

DO 10.1109/SFCS.1994.365740

LK http://doi.ieeecomputersociety.org/10.1109/SFCS.1994.365740