Key points are not available for this paper at this time.
Given k ≥ 2 circular disks D 1 , D 2 ...D k in a 2-dimensional region bounded by a finite set of polygonal obstacles, an algorithm to determine the existence of a collision free coordinated motion of the disks is given. The time complexity is shown to be O(n k } where n is the number of edges composing the walls. This algorithm is believed to be optimal.
Ramanathan et al. (Wed,) studied this question.