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In this paper, we look into the minimum obstacle displacement (MOD) planningproblem from a mobile robot motion planning perspective. This problem finds anoptimal path to goal by displacing movable obstacles when no path exists due tocollision with obstacles. However this problem is computationally expensive andgrows exponentially in the size of number of movable obstacles. This work looksinto approximate solutions that are computationally less intensive and differfrom the optimal solution by a factor of the optimal cost.

Computational Tradeoff in Minimum Obstacle Displacement Planning for Robot Navigation