Meta-Agent Conflict-Based Search For Optimal Multi-Agent Path Finding.
作者： Nathan R. Sturtevant , Ariel Felner , Roni Stern , Guni Sharon
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摘要: … Returning to Algorithm 1, we introduce the merging action which occurs just after a new conflict was found by the validation process (C in line 10) for a given CT node. At this point MA-…
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