Multi-Agent Routing in Octree with Autonomous Waypoint Allocation

Kurzfassung

The multi-agent routing is the first stage of an ensemble mission planning and execution pipeline required to control a multi-agent system in an environment filled with obstacles while ensuring deconfliction between the agents. The concept of the presented multi-agent routing aims at allocating mission goals in an optimized order to the agents. Moreover, it plans obstacle-free corridors through the environment represented by an n-dimensional tree. The multi-agent routing obtains the corridors using A* search algorithm. We propose a new approach to calculating the edge weights for the A∗ search algorithm that significantly shortens the overall corridor length and improves flight safety. The advantage of the proposed method is studied in a realistic urban environment, and its performance is compared with that of the standard approach, which uses Euclidean distance between the node center points as the edge weight.