Path planning for multi-vehicle autonomous swarms in dynamic environment

This paper aims at investigating the dynamic path planning of a multi-agent autonomous swarm to execute a task of traversing a certain terrain with specified start and goal state. The area under consideration also includes a specified number of secondary goals/checkpoints to be explored/visited by at-least one vehicle of the swarm while avoiding the static and dynamic obstacles. The decision about the traversal to the checkpoints is made by the swarm itself, thus providing a decentralized control. D*lite is employed for dynamic path planning. Numerical simulation results are presented to validate the path planning algorithm with different number of agents and obstacles.