Path Finding for the Coalition of Co-operative Agents Acting in the Environment with Destructible Obstacles

  • Anton AndreychukEmail author
  • Konstantin Yakovlev
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11097)


The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten their paths to the goal. As a result the mutual solution of lower cost, e.g. time to completion, may be acquired. We suggest an original procedure to identify the obstacles for further removal that can be embedded into almost any heuristic search planner (we use Theta*) and evaluate it empirically. Results of the evaluation show that time-to-complete the mission can be decreased up to 9–12 % by utilizing the proposed technique.


Path planning Path finding Grid Coalition of agents Co-operative agents Co-operative path planning Multi-agent systems 



This work was supported by the “RUDN University Program 5–100” (extracting data from OpenStreetMaps to conduct the experiments) and by the RSF project #16-11-00048 (developing path planning methods and evaluating them).


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© Springer Nature Switzerland AG 2018

Authors and Affiliations

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

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