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Minimizing movement

Demaine, E. D ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. DOI: 10.1145/1541885.1541891
  3. Publisher: 2009
  4. Abstract:
  5. We give approximation algorithms and inapproximability results for a class of movement problems. In general, these problems involve planning the coordinated motion of a large collection of objects (representing anything from a robot swarm or firefighter team to map labels or network messages) to achieve a global property of the network while minimizing the maximum or average movement. In particular, we consider the goals of achieving connectivity (undirected and directed), achieving connectivity between a given pair of vertices, achieving independence (a dispersion problem), and achieving a perfect matching (with applications to multicasting). This general family of movement problems encompasses an intriguing range of graph and geometric algorithms, with several real-world applications and a surprising range of approximability. In some cases, we obtain tight approximation and inapproximability results using direct techniques (without use of PCP), assuming just that P= NP. © 2009 ACM
  6. Keywords:
  7. Motion planning ; Pebble placement ; Approximability ; Coordinated motion ; Euclidean plane ; Geometric algorithm ; Global properties ; Minimizing movements ; OR-networks ; Perfect matchings ; Real-world application ; Robot swarms ; Approximation algorithms ; Labels ; Navigation ; Robot programming
  8. Source: ACM Transactions on Algorithms ; Volume 5, Issue 3 , 2009 ; 15496325 (ISSN)
  9. URL: https://dl.acm.org/doi/10.1145/1541885.1541891