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Regular version of the site

Book chapter

Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments

P. 1-10.
Andreychuk A., Yakovlev K.

The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized planner – MAPP is described and applied to the task of finding trajectories for dozens UAVs performing nap-of-the-earth flight in urban environments. Results of the experimental studies provide an opportunity to claim that MAPP is a highly efficient planner for solving considered types of tasks.

In book

Edited by: A. Ronzhin, G. Rigoll, R. Meshcheryakov. Springer, 2017.