Near-Optimal Min-Sum Motion Planning for Two Square Robots in a Polygonal Environment

Pankaj K. Agarwal, Dan Halperin, Micha Sharir +1

Let $\mathcal{W}\subset {\mathbb{R}}^2$ be a planar polygonal environment (i.e., a polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be two robots, each mo…