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Path Finding and Collision Avoidance for Multi-agent Navigation

Student: Dergachev Stepan

Supervisor: Konstantin Yakovlev

Faculty: HSE Tikhonov Moscow Institute of Electronics and Mathematics (MIEM HSE)

Educational Programme: Information Science and Computation Technology (Bachelor)

Final Grade: 10

Year of Graduation: 2020

The work considers the multi-agent autonomous navigation problem, which is one of the key in the field of multi-agent intelligent systems. The main purpose of this work is to develop a decentralized navigation system for a group of mobile agents. The work includes an analysis of the scientific and technical literature on autonomous navigation and the selection of algorithms and methods for developing the system. Based on the selected algorithms, a navigation system is developed in the form of a standalone program and in the form of a module for Robot Operating System (ROS). An experimental study of the developed system is carried out. The work consists of 50 pages, contains 34 images. The 40 sources were used.

Full text (added May 29, 2020)

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