A General Theory of Motion Planning Complexity: Characterizing Which Gadgets Make Games Hard

  title={A General Theory of Motion Planning Complexity: Characterizing Which Gadgets Make Games Hard},
  author={Erik D. Demaine and Dylan H. Hendrickson and J. Lynch},
We build a general theory for characterizing the computational complexity of motion planning of robot(s) through a graph of "gadgets", where each gadget has its own state defining a set of allowed traversals which in turn modify the gadget's state. We study two families of such gadgets, one which naturally leads to motion planning problems with polynomially bounded solutions, and another which leads to polynomially unbounded (potentially exponential) solutions. We also study a range of… Expand
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