Shortest Paths for a Two-robot Rendez-vous.
Erik Wynters, Joseph S. B. Mitchell · 1993
In this paper, we consider an optimal motion planning problem for a pair of point robots in a planar environment with polygonal obstacles. We seek a pair of paths upon which the robots can travel to move from their initial positions to positions in which they are able to communicate. In order to communicate, the robots need to be visible to one another. We give efficient algorithms for minimizing either the sum or the maximum of the two path lengths.