“…A more recent study, however, proposes a new mid-layer architecture that provides the coordination between global and local path planners that is essential for smoother and safer navigation (Özcan & Haciomeroglu, 2015). Another interesting study adapts the conventional A* algorithms for multi-agent systems that allow agents to estimate their paths based on the dynamic configuration of the environment (Haciomeroglu, 2016). The readers are also encouraged towards outstanding papers with respect to the field (Guzel & Kayakökü, 2016; Narain, Golas, Curtis, & Lin, 2009; Thalmann, Grillon, Maim, & Yersin, 2009).…”