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 2 连续时间下边缘冲突与顶点冲突的示意图

Fig.2 Schematic diagram of edge conflict and vertex conflict in continuous time