TY - CHAP
T1 - Coordinating the Motion of Labeled Discs with Optimality Guarantees under Extreme Density
AU - Chinta, Rupesh
AU - Han, Shuai D.
AU - Yu, Jingjin
N1 - Funding Information:
Acknowledgement. This work is supported by NSF awards IIS-1617744 and IIS-1734419. Opinions or findings expressed here do not reflect the views of the sponsor.
Publisher Copyright:
© 2020, Springer Nature Switzerland AG.
PY - 2020
Y1 - 2020
N2 - 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 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.
AB - 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 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.
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U2 - 10.1007/978-3-030-44051-0_47
DO - 10.1007/978-3-030-44051-0_47
M3 - Chapter
AN - SCOPUS:85107062984
T3 - Springer Proceedings in Advanced Robotics
SP - 817
EP - 834
BT - Springer Proceedings in Advanced Robotics
PB - Springer Science and Business Media B.V.
ER -