RT Journal Article
JF 2013 IEEE 54th 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