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The interest in MAS (Multi-Agent Systems) is increasing and an important task is providing these systems with sophisticated planning algorithms. One of the major and complex planning problems in MAS is indeed path planning problem; in this way, the case in which every agent has its own goal has been more discussed than the one in which there is a common goal among the agents, while it knows in the recent problem, there are potentially more collisions and bottlenecks making it a hard problem to approach. This paper addresses certain boundaries of this problem and introduces an algorithm to achieve a proper solution to this optimization problem.
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