{"id":"https://openalex.org/W2963095472","doi":"https://doi.org/10.1177/0278364916672311","title":"On the hardness of unlabeled multi-robot motion planning","display_name":"On the hardness of unlabeled multi-robot motion planning","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2963095472","doi":"https://doi.org/10.1177/0278364916672311","mag":"2963095472"},"language":"en","primary_location":{"id":"doi:10.1177/0278364916672311","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364916672311","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000480439","display_name":"Kiril Solovey","orcid":"https://orcid.org/0000-0003-0254-0572"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Kiril Solovey","raw_affiliation_strings":["Blavatnik School of Computer Science, Tel-Aviv University, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Blavatnik School of Computer Science, Tel-Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038503253","display_name":"Dan Halperin","orcid":"https://orcid.org/0000-0002-3345-3765"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Dan Halperin","raw_affiliation_strings":["Blavatnik School of Computer Science, Tel-Aviv University, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Blavatnik School of Computer Science, Tel-Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5000480439"],"corresponding_institution_ids":["https://openalex.org/I16391192"],"apc_list":null,"apc_paid":null,"fwci":3.1489,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.94883689,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"35","issue":"14","first_page":"1750","last_page":"1759"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9782000184059143,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8265330791473389},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7015970945358276},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.574859082698822},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5724098086357117},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5685014128684998},{"id":"https://openalex.org/keywords/square","display_name":"Square (algebra)","score":0.5683858394622803},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5111299157142639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5078180432319641},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49965977668762207},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.48431602120399475},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3223213851451874}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8265330791473389},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7015970945358276},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.574859082698822},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5724098086357117},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5685014128684998},{"id":"https://openalex.org/C135692309","wikidata":"https://www.wikidata.org/wiki/Q111124","display_name":"Square (algebra)","level":2,"score":0.5683858394622803},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5111299157142639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5078180432319641},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49965977668762207},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.48431602120399475},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3223213851451874},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364916672311","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364916672311","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7699999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320319059","display_name":"Clore Israel Foundation","ror":"https://ror.org/00mmfdg02"},{"id":"https://openalex.org/F4320322252","display_name":"Israel Science Foundation","ror":"https://ror.org/04sazxf24"},{"id":"https://openalex.org/F4320322596","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W55054594","https://openalex.org/W81102771","https://openalex.org/W248545364","https://openalex.org/W1515019551","https://openalex.org/W1628219785","https://openalex.org/W1774345111","https://openalex.org/W1964462572","https://openalex.org/W1970459509","https://openalex.org/W1991482882","https://openalex.org/W2012855423","https://openalex.org/W2015241127","https://openalex.org/W2022020194","https://openalex.org/W2032056620","https://openalex.org/W2036722182","https://openalex.org/W2066528300","https://openalex.org/W2068796584","https://openalex.org/W2072839015","https://openalex.org/W2109835212","https://openalex.org/W2124015815","https://openalex.org/W2125968961","https://openalex.org/W2133067819","https://openalex.org/W2136323427","https://openalex.org/W2153159477","https://openalex.org/W2159025768","https://openalex.org/W2187114588","https://openalex.org/W2534225927","https://openalex.org/W2963358853","https://openalex.org/W4214952174","https://openalex.org/W4400518895"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W2073535592"],"abstract_inverted_index":{"In":[0,36],"unlabeled":[1,92],"multi-robot":[2],"motion":[3],"planning,":[4],"several":[5],"interchangeable":[6],"robots":[7,19,49,133],"operate":[8],"in":[9,142,162],"a":[10,21,111],"common":[11],"workspace.":[12],"The":[13],"goal":[14],"is":[15,58,85,109,119],"to":[16,20,100,134],"move":[17],"the":[18,44,79,86,91,103,132,152,155],"set":[22],"of":[23,47,66,81,136,154],"target":[24,113],"positions":[25],"such":[26],"that":[27,56,71,102],"each":[28,107],"position":[29],"will":[30],"be":[31,98,135],"occupied":[32],"by":[33],"some":[34],"robot.":[35],"this":[37,41,67,84],"paper,":[38],"we":[39,146],"study":[40],"problem":[42,68,150],"for":[43,90,116,159],"specific":[45,112],"case":[46],"unit-square":[48,117,160],"moving":[50],"amidst":[51],"polygonal":[52,165],"obstacles":[53],"and":[54,69],"show":[55,70,101],"it":[57],"PSPACE-hard.":[59],"We":[60],"also":[61],"consider":[62],"three":[63],"additional":[64],"variants":[65],"they":[72],"are":[73],"all":[74],"PSPACE-hard":[75,120],"as":[76,121,127],"well.":[77],"To":[78],"best":[80],"our":[82,95],"knowledge,":[83],"first":[87],"hardness":[88,129],"proof":[89],"case.":[93],"Furthermore,":[94],"proofs":[96],"can":[97],"used":[99],"labeled":[104],"variant":[105],"(where":[106],"robot":[108],"assigned":[110],"position),":[114],"again,":[115],"robots,":[118],"well,":[122],"which":[123],"sets":[124],"another":[125],"precedent,":[126],"previous":[128],"results":[130],"require":[131],"different":[137,143],"shapes":[138],"(or":[139],"at":[140],"least":[141],"orientations).":[144],"Lastly,":[145],"settle":[147],"an":[148],"open":[149],"regarding":[151],"complexity":[153],"well-known":[156],"Rush-Hour":[157],"puzzle":[158],"cars":[161],"environments":[163],"with":[164],"obstacles.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2026-06-23T06:36:01.041984","created_date":"2025-10-10T00:00:00"}
