Applying MAPP algorithm for cooperative path finding in urban environments

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. © 2017, Springer International Publishing AG.

Authors
Andreychuk A. 1, 2 , Yakovlev K.1, 3
Journal
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Language
English
Pages
1-10
Status
Published
DOI
10.1007/978-3-319-66471-2_1
Volume
10459 LNAI
Year
2017
Organizations
  • 1 Federal Research Center “Computer Science and Control” of Russian Academy of Sciences, Moscow, Russian Federation
  • 2 People’s Friendship University of Russia (RUDN University), Moscow, Russian Federation
  • 3 National Research University Higher School of Economics, Moscow, Russian Federation
Keywords
Heuristic search; MAPP; Multi-agent path finding; Multi-agent path planning; Path finding; Path planning
Date of creation
19.10.2018
Date of change
19.10.2018
Short link
https://repository.rudn.ru/en/records/article/record/6237/
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