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Finding Coordinated Paths for Multiple Holonomic Agents in 2-d Polygonal Environment
[article]
2014
arXiv
pre-print
Avoiding collisions is one of the vital tasks for systems of autonomous mobile agents. We focus on the problem of finding continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal obstacles. The problem is PSPACE-hard, with the state space growing exponentially in the number of agents. Therefore, the state of the art methods include mainly reactive techniques and sampling-based iterative algorithms. We compare the performance of a widely-used reactive
arXiv:1402.3613v1
fatcat:t5qcantgofarjgbe2zvdktwchy