Pebble motion problems
The pebble motion problems, or pebble motion on graphs, are a set of related problems in graph theory dealing with the movement of multiple objects ("pebbles") from vertex to vertex in a graph with a constraint on the number of pebbles that can occupy a vertex at any time. Pebble motion problems occur in domains such as multi-robot motion planning (in which the pebbles are robots) and network routing (in which the pebbles are packets of data). The best-known example of a pebble motion problem is the famous 15 puzzle where a disordered group of fifteen tiles must be rearranged within a 4x4 grid by sliding one tile at a time.
The general form of the pebble motion problem is Pebble Motion on Graphs formulated as follows:
Let be a graph with vertices. Let be a set of pebbles with . An arrangement of pebbles is a mapping such that for . A move consists of transferring pebble from vertex to adjacent unoccupied vertex . The Pebble Motion on Graphs problem is to decide, given two arrangements and , whether there is a sequence of moves that transforms into .
Common variations on the problem limit the structure of the graph to be:
Other versions of the problem seek not only to prove reachability but to find a (potentially optimal) sequence of moves (i.e. a plan) which performs the transformation.
Finding the shortest path in the pebble motion on graphs problem (with labeled pebbles) is known to be NP-hard and APX-hard. The unlabeled problem can be solved in polynomial time when using the cost metric mentioned above (minimizing the total number of moves to adjacent vertices), but is NP-hard for other natural cost metrics.
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