Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments

  • Anton AndreychukEmail author
  • Konstantin Yakovlev
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10459)


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.


Path planning Path finding Heuristic search Multi-agent path planning Multi-agent path finding MAPP 



This work was supported by the Russian Science Foundation (Project No. 16-11-00048).


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© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Federal Research Center “Computer Science and Control” of Russian Academy of SciencesMoscowRussia
  2. 2.People’s Friendship University of Russia (RUDN University)MoscowRussia
  3. 3.National Research University Higher School of EconomicsMoscowRussia

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