Abstract
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.
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This work was supported by the Russian Science Foundation (Project No. 16-11-00048).
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Andreychuk, A., Yakovlev, K. (2017). Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2017. Lecture Notes in Computer Science(), vol 10459. Springer, Cham. https://doi.org/10.1007/978-3-319-66471-2_1
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DOI: https://doi.org/10.1007/978-3-319-66471-2_1
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