Abstract
Computing hierarchical routing networks in polygonal maps is significant to realize the efficient coordination of agents, robots and systems in general; and the fact of considering obstacles in the map, makes the computation of efficient networks a relevant need for cluttered environments. In this paper, we present an approach to compute the minimal-length hierarchical topologies in polygonal maps by Differential Evolution and Route Bundling Concepts. Our computational experiments in scenarios considering convex and non-convex configuration of polygonal maps show the feasibility of the proposed approach.
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Parque, V., Miyashita, T. (2018). Path Planning on Hierarchical Bundles with Differential Evolution. In: Tan, Y., Shi, Y., Tang, Q. (eds) Advances in Swarm Intelligence. ICSI 2018. Lecture Notes in Computer Science(), vol 10941. Springer, Cham. https://doi.org/10.1007/978-3-319-93815-8_25
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DOI: https://doi.org/10.1007/978-3-319-93815-8_25
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