A Multi-agent Decision Support System for Path Planning under Reciprocal Constraints

  • Miri Weiss-Cohen
  • Gideon Avigad
  • Erella Eisenstadt
Part of the Smart Innovation, Systems and Technologies book series (SIST, volume 15)


This paper formulizes and solves a special class of trajectory optimization problems focusing on the optimization of different kind of agents which are coupled through reciprocal constraints. Searching for a solution to the problem at hand may not only stipulate planning a longer path for each agent, but also choosing slower travel speeds in order to coordinate multiple paths. A novel approach is formulated which uses the representation of a path by a telescopic antenna. The length and orientation of the antenna’s sections are evolved by a genetic algorithm. The approach is demonstrated and studied through solving and simulating several path-planning problems.


Mobile Robot Pareto Front Path Planning Single Objective Problem Artificial Potential Field 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Miri Weiss-Cohen
    • 1
  • Gideon Avigad
    • 2
  • Erella Eisenstadt
    • 2
  1. 1.Software Engineering Department –ORTBraude College of EngineeringBraudeIsrael
  2. 2.Mechanical Engineering Department –ORTBraude College of EngineeringBraudeIsrael

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