| 摘要 |
<p>Paths are planned for one or more actors, through at least two dimensions of time or space, to identify rendezvous locations meeting a global criterion. At least two scenarios are defined, including at least one for each actor, and a configuration space is created for each of these scenarios. A scenario includes identification of the actor, a source direction for planning, a set of states identifying the source or obstacle locations, and the respective cost metrics for each possible transition between a configuration state in the corresponding configuration space, and its neighbors. Cost waves are propagated in each configuration space, to generate a cost-to-source for each state. A Boolean evaluation is then made of configuration states, according to a global criterion, to identify all possible rendezvous states. Finally, the actors are controlled to travel to that rendezvous chosen according to optimization criteria, or the candidate rendezvous states are displayed for further evaluation or use.</p> |
