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Hierarchical multi-agent motion planning in a static environment

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2 Author(s)
Johnson, E.A. ; Dept. of Comput. Sci., North Carolina A&T State Univ., Greensboro, NC, USA ; Esterline, A.C.

This hierarchical approach to motion planning has good asymptotic complexity and, when the assumptions are met, gives near-optimal solutions. We address adaptations of our heuristics (a clear method encapsulating an arbitrary set of points) to handle situations where our assumptions do not quite hold

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Southeastcon 2000. Proceedings of the IEEE

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