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Coordinated motion planning: the warehouseman's problem with constraints on free space

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2 Author(s)
Sharma, R. ; Maryland Univ., College Park, MD, USA ; Aloimonos, Y.

The warehouseman's problem, namely, the coordinated motion planning for multiple independent objects confined in a room, is addressed. Several constraints are presented under which the problem becomes tractable, and polynomial time algorithms that guarantee a coordinated rearrangement under the given conditions are obtained. The concept of temporary storage space (TSS) is introduced as a general way of constraining free space. Each algorithm presented has a different set of constraints on the possible sizes and/or relative placements of the square blocks. For each case, an adequate TSS is proposed that guarantees rearrangement of n blocks through algorithms having O(n2) running time. The practical utility of the presented techniques is also discussed in the light of the complexity of motion coordination

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:22 ,  Issue: 1 )