Coordinating the Motion of Labeled Discs with Optimality Guarantees under Extreme Density

07/09/2018

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by   Rupesh Chinta, et al.

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We push the limit in planning collision-free motions for routing uniform labeled discs in two dimensions. First, from a theoretical perspective, we show that the constant-factor time-optimal routing of labeled discs can be achieved using a polynomial-time algorithm with robot density over 50% in the limit (i.e., over half of the workspace may be occupied by the discs). Second, from a more practical standpoint, we provide a high performance algorithm that computes near-optimal (e.g., 1.x) solutions under the same density setting.