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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.

Language: English
DOI
Text on another site
Keywords: path planningheuristic searchPath findingmulti-agent path findingMAPP

In book

Interactive Collaborative Robotics: Second International Conference, ICR 2017, Hatfield, UK, September 12-16, 2017, Proceedings
Springer, 2017.
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