Feasibility of Motion Planning on Directed Graphs

Because of irreversibility of movements, motion planning on directed graphs is much more intricate than that on graphs. Recently we showed that the feasibility of motion planning on acyclic and strongly connected directed graphs can be decided in time O(nm) (n, m are respectively the number of vertices and arcs of the directed graph), but left the feasibility of motion planning on (general) directed graphs open. In this paper, we complete the solution by showing that the feasibility of motion planning on directed graphs can be decided in time O(n2 m).

• Type: Conference
• Year: 2009
• Where: TAMC
• Authors: Zhilin Wu, Stéphane Grumbach
• Keywords: Connected Directed Graphs, Directed Graphs, Motion Planning, TAMC 2009