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cs.AI2022★ 1 cited
Analysis Of The Anytime MAPF Solvers Based On The Combination Of Conflict-Based Search (CBS) and Focal Search (FS)
Ilya Ivanashev, Anton Andreychuk, Konstantin Yakovlev
Conflict-Based Search (CBS) is a widely used algorithm for solving multi-agent pathfinding (MAPF) problems optimally. The core idea of CBS is to run hierarchical search, when, on t…
cs.RO2022
2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain
Stepan Dergachev, Kirill Muravyev, Konstantin Yakovlev
Safe navigation in uneven terrains is an important problem in robotic research. In this paper we propose a 2.5D navigation system which consists of elevation map building, path pla…