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A Horizon-slicing Approach to Minimum Obstacle Displacement Planning for Robot Navigation
In this paper, we investigate the Minimum Obstacle Displacement Planning problem from a robot motion planning perspective. The problem involves determining a feasible path to a goal location by displacing movable obstacles when no collision-free path initially exists. We show that this problem is computationally challenging and, in particular, NP-hard when obstacles are modeled as polygons in the plane. Besides an exact formulation of the minimum obstacle displacement problem generalizing other problems in the literature, and the associated optimal solution, this paper proposes an approximate
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-19T11:51:40.000Z
First collected: 2026-09-23T12:01:45.602Z. This is not the publication date.