A PTAS for geometric 2-FTP
In FTP, some inactive robots should be activated by only one initial active robot. Each active robot can assist in activating other inactive robots, by closing to them. The goal is activating all inactive robots within the minimum time. We introduce k -FTP, a generalization of FTP, where we have k>1 k > 1 initial active robots. We give a constant factor approximation algorithm for k-FTP and a PTAS for 2-FTP.
approximation algorithm freeze tag problem swarm robotics computational geometry robot scheduling