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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CITATION STYLE
Andreychuk, A., & Yakovlev, K. (2017). Applying MAPP algorithm for cooperative path finding in urban environments. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 10459 LNAI, pp. 1–10). Springer Verlag. https://doi.org/10.1007/978-3-319-66471-2_1
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