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First FPTAS for Multi-Robot Motion Planning to Be Presented at SODA 2027
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Sayan Bandyapadhyay et al. present the first fully polynomial-time approximation scheme (FPTAS) for the multi-robot motion planning problem, applicable to a fixed number k of translating polygonal robots in polygonal environments, covering the three objectives min-sum, min-max, and min-makespan; the paper will be presented at SODA 2027. The algorithm generalizes to polyhedral environments and polyhedral robots in any fixed dimension d, and resolves the open problem previously posed by Agarwal et al. regarding an FPTAS for k=2 unit-square and unit-disk robots, while being simpler than existing results.
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- Fully Polynomial-Time Approximation Scheme (FPTAS) for Multi-Robot Motion Planning
This work presents the first fully polynomial-time approximation scheme (FPTAS) for the multi-robot motion planning problem, for a fixed number k of translating polygonal robots in a polygonal environment, covering the min-sum, min-max, and min-makespan objectives. The algorithm generalizes to polytope environments and polytope robots in any fixed dimension d, and it resolves the open problem raised by Agarwal et al. on an FPTAS for k=2 unit-square and unit-disk robots, while being simpler than existing results. The paper will be published at SODA 2027.
arXiv cs.RO ·