dc.citation.conferencePlace |
US |
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dc.citation.title |
Symposium on Computational Geometry |
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dc.contributor.author |
Yang, Hyeyun |
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dc.contributor.author |
Vigneron, Antoine |
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dc.date.accessioned |
2024-01-31T21:40:28Z |
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dc.date.available |
2024-01-31T21:40:28Z |
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dc.date.created |
2021-06-26 |
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dc.date.issued |
2021-06-09 |
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dc.description.abstract |
The third computational geometry challenge was on a coordinated motion planning problem in which a collection of square robots need to move on the integer grid, from their given starting points to their target points, and without collision between robots, or between robots and a set of input obstacles. We designed and implemented an algorithm for this problem, which consists of three parts. First, we computed a feasible solution by placing middle-points outside of the minimum bounding box of the input positions of the robots and the obstacles, and moving each robot from its starting point to its target point through a middle-point. Second, we applied a simple local search approach where we repeatedly delete and insert again a random robot through an optimal path. It improves the quality of the solution, as the robots no longer need to go through the middle-points. Finally, we used simulated annealing to further improve this feasible solution. We used two different types of moves: We either tightened the whole trajectory of a robot, or we stretched it between two points by making the robot move through a third intermediate point generated at random. |
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dc.identifier.bibliographicCitation |
Symposium on Computational Geometry |
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dc.identifier.doi |
10.4230/LIPIcs.SoCG.2021.65 |
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dc.identifier.uri |
https://scholarworks.unist.ac.kr/handle/201301/77294 |
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dc.language |
영어 |
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dc.publisher |
Schloss Dagstuhl- Leibniz-Zentrum fur Informatik GmbH, Dagstuhl Publishing |
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dc.title |
A simulated annealing approach to coordinated motion planning |
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dc.type |
Conference Paper |
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dc.date.conferenceDate |
2021-06-07 |
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