Backward time-reversed conflict-based search finds initial collision-free simultaneous-arrival trajectories for agents at rest, which are then refined via distributed nonlinear ADMM optimal control.
Multi-aircraft path planning method based on cooperative search A-star algorithm
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Multi-Agent Motion Planning for Simultaneous Arrival using Time-Reversed Search and Distributed Optimal Control
Backward time-reversed conflict-based search finds initial collision-free simultaneous-arrival trajectories for agents at rest, which are then refined via distributed nonlinear ADMM optimal control.