多目标多智能体路径规划方法

张静,王祎,陈子龙,李云松

Multi-goal multi-agent path finding algorithm

Jing ZHANG,Yi WANG,Zilong CHEN,Yunsong LI

图 1 结合任务分配的冲突搜索算法的基本流程

Fig.1 Basic flow of conflict-based search with optimal task assignment algorithm