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Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments

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Book cover Interactive Collaborative Robotics (ICR 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10459))

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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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Notes

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Acknowledgements

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

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Authors and Affiliations

  1. Federal Research Center “Computer Science and Control” of Russian Academy of Sciences, Moscow, Russia

    Anton Andreychuk & Konstantin Yakovlev

  2. People’s Friendship University of Russia (RUDN University), Moscow, Russia

    Anton Andreychuk

  3. National Research University Higher School of Economics, Moscow, Russia

    Konstantin Yakovlev

Authors
  1. Anton Andreychuk
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  2. Konstantin Yakovlev
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Corresponding author

Correspondence to Anton Andreychuk .

Editor information

Editors and Affiliations

  1. SPIIRAS , St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. Tomsk State University , Tomsk, Russia

    Roman Meshcheryakov

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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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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-66470-5

  • Online ISBN: 978-3-319-66471-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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