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The Cartographer
Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments
July 20, 2017 Β· Declared Dead Β· π International Conference on Interactive Collaborative Robotics
"No code URL or promise found in abstract"
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Authors
Anton Andreychuk, Konstantin Yakovlev
arXiv ID
1707.06607
Category
cs.AI: Artificial Intelligence
Cross-listed
cs.MA
Citations
2
Venue
International Conference on Interactive Collaborative Robotics
Last Checked
4 months ago
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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