Scheduling Trajectories on a Planar Surface with Moving Obstacles

An algorithm for scheduling the trajectory of a point object, which moves on a plane surface comprising a set of moving obstacles, is introduced. Different quantitative criteria may be met by the schedule, e.g., the course connecting two individual locations being the shortest in length, the least expensive, the fastest as regard to its duration, etc. A prototype system that implements the algorithm is presented. Several example scenarios are also discussed.