On the Complexity of Motion Planning for Multiple Independent Objects; PSPACE- Hardness of the “Warehousemans's Problem”

The International Journal of Robotics Research

Volumn 3, Issue 4, 1984, Pages 76-88

  Hopcroft, J E ^a   Schwartz, J T ^b   Sharir, M ^c  

^a Department of Obstetrics Gynecology   (United States)

^b NEW YORK UNIVERSITY   (United States)

^c TEL AVIV UNIVERSITY   (Israel)

Author keywords

[No Author keywords available]

Indexed keywords

WAREHOUSES - COMPUTER APPLICATIONS;

COORDINATED MOTION PLANNING; SYMBOL TRANSPOSITION PROBLEM;

KINEMATICS;

EID: 0021589170     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/027836498400300405     Document Type: Article

References (8)

1. Garey, M.R., and Johnson, D.S. 1979, Computers and intractability: A guide to the theory of NP-completeness. San Francisco: Freeman.
2. Hopcroft, J., Joseph, D., and Whitesides, S. 1982. Movement problems for 2-dimensional linkages. Tech. Rept. 82-575. Ithaca, N.Y.: Cornell University Computer Science Department. To be reprinted in SIAM J. Computing
3. Hopcroft, J., and Ullman, J. 1979. Introduction to automata theory, languages, and computations. Reading, Mass.: Addison-Weslev.
4. Hopcroft, J. and Wilfong, G. 1984. Reducing multiple object motion planning to graph searching. Tech. Rept. 84-616. Ithaca, N.Y.: Cornell University Computer Science Department.
5. Reif, J. 1979. Complexity of the movers' problem and generalizations. Proc. 20th IEEE Conf on Foundations of Comp. Sci. Long Beach, Calif.: IEEE Computer Society, pp. 421-427.
6. Schwartz, J.T., and Sharir, M. 1983a. On the piano movers' problem: II. General techniques for computing topological properties of real algebraic manifolds. Advances in Appl. Math., vol. 4, pp. 298 -351.
7. Schwartz, J.T., and Sharir, M. 1983b. On the piano movers' problem: III. Coordinating the motion of several independent bodies: The special case of circular bodies moving amidst polygonal barriers. Int. J. Robotics Res. 2(3):46-75.
8. Sharir, M., and Schorr, A. 1984. On shortest paths in polyhedral spaces. Proc. 16th ACM Symp. Theory of Computing. New York: Association for Computing Machinery, pp. 144-153.