Intractability of Time-Optimal Multirobot Path Planning on 2D Grid Graphs with Holes

Jacopo Banfi, Nicola Basilico, Francesco Amigoni. Intractability of Time-Optimal Multirobot Path Planning on 2D Grid Graphs with Holes. IEEE Robotics and Automation Letters, 2(4):1941-1947, 2017. [doi]

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