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》 资源 》论文》Reduced Time-Expansion Graphs and Goal Decomposition for Solving Cooperative Path Finding Sub-Optimally

Reduced Time-Expansion Graphs and Goal Decomposition for Solving Cooperative Path Finding Sub-Optimally

2019-11-19 | |  113 |   41 |   0
Abstract Solving cooperative path finding (CPF) by translating it to propositional satisfiability represents a viable option in highly constrained situations. The task in CPF is to relocate agents from their initial positions to given goals in a collision free manner. In this paper, we propose a reduced time expansion that is focused on makespan sub-optimal solving. The suggested reduced time expansion is especially beneficial in conjunction with a goal decomposition where agents are relocated one by one.

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