Abstract:For a centralized path planning in the multi-agent path finding (MAPF), especially for road vehicles using traffic rules, a prioritized planning algorithm is one of the key methods that deal with real-time problems. The time used for planning is limited, especially when a number of agents are present, and a suboptimal solution has to be found. If possible, the previous solution should be reused for the replanning. Anytime Dynamic A* (AD*) can both replan the path when the environment is changed dynamically and… Show more
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