• Corpus ID: 2983533

Multi-agent RRT: sampling-based cooperative pathfinding

  title={Multi-agent RRT: sampling-based cooperative pathfinding},
  author={Michal C{\'a}p and Peter Nov{\'a}k and Jir{\'i} Vokr{\'i}nek and Michal Pěchou{\vc}ek},
  booktitle={Adaptive Agents and Multi-Agent Systems},
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. [] Key Result Here, we propose MA-RRT*, a novel algorithm for multi-agent path planning that builds upon a recently proposed asymptotically-optimal sampling-based algorithm for finding single-agent shortest path called RRT*. We experimentally evaluate the performance of the algorithm and show that the sampling-based approach offers better scalability than the classical forward-search approach…

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