Maximum thick paths in static and dynamic environments

Abstract

We consider the problem of finding a large number of disjoint paths for unit disks moving amidst static or dynamic obstacles. The problem is motivated by the capacity estimation problem in air traffic management, in which one must determine how many aircraft can safely move through a domain while avoiding each other and avoiding “no-fly zones” and predicted weather hazards. For the static case we give efficient exact algorithms, based on adapting the “continuous uppermost path” paradigm. As a by-product, we establish a continuous analogue of Menger's Theorem. Next we study the dynamic problem in which the obstacles may move, appear and disappear, and otherwise change with time in a known manner; in addition, the disks are required to enter/exit the domain during prescribed time intervals. Deciding the existence of just one path, even for a 0-radius disk, moving with bounded speed is NP-hard, as shown by Canny and Reif [J. Canny, J.H. Reif, New lower bound techniques for robot motion planning problems, in: Proc. 28th Annu. IEEE Sympos. Found. Comput. Sci., 1987, pp. 49–60]. Moreover, we observe that determining the existence of a given number of paths is hard even if the obstacles are static, and only the entry/exit time intervals are specified for the disks. This motivates studying “dual” approximations, compromising on the radius of the disks and on the maximum speed of motion. Our main result is a pseudopolynomial-time dual-approximation algorithm. If K unit disks, each moving with speed at most 1, can be routed through an environment, our algorithm finds (at least) K paths for disks of radius somewhat smaller than 1 moving with speed somewhat larger than 1.