- A set of 1 or more robots. Each robot has an origin point, which is an (x, y) coordinate.
- A set of 1 or more time steps. In each time step, each of the robots will visit a specific (x, y) position. For example, a schedule with 3 robots and 2 time steps could look as follows:
A schedule is valid if there are no collision between any of the robots for all time steps. A collision is defined as follows:
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Each robot occupies a rectangular area. The origin of the robot and the point that is being visited by the robot are the two corners of this rectangle.
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When the occupied areas of two robots overlap or touch in an edge or point, then there is a collision. See (Tip 1) for a formula that you can use to determine whether two rectangles overlap or touch.
