Near-Optimal Min-Sum Motion Planning in a Planar Polygonal Environment

Pankaj K. Agarwal, Benjamin Holmgren, Alex Steiger

Let $W\subset {\mathbb{R}}^2$ be a planar polygonal environment with $n$ vertices, and let $[k]=\{1,\dots ,k\}$ denote $k$ unit-square robots translating in $W$. Given source and…