Optimal Motion Planning for Two Square Robots in a Rectilinear Environment

Pankaj K. Agarwal, Mark de Berg, Benjamin Holmgren +2

Let $\mathcal{W}\subset {\mathbb{R}}^2$ be a rectilinear polygonal environment (that is, a rectilinear polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be…