Coordinated Motion Planning Through Randomized k -Opt

Abstract

This article examines the approach taken by team gitastrophe in the CG:SHOP 2021 challenge. The challenge was to find a sequence of simultaneous moves of square robots between two given configurations that minimized either total distance travelled or makespan (total time). Our winning approach has two main components: an initialization phase that finds a good initial solution and a k -opt local search phase that seeks to optimize this solution. This led to a first-place finish in the distance category and a third-place finish in the makespan category.