Algorithm for resolving conflicts in the task of selecting the optimal routes for a group of agents in the plane

Аннотация

To solve the problem of laying the shortest paths along the edges of a weighted graph, taking into account the hierarchy of agents, the ant algorithm is used to achieve the vertices. In the parameter that determines the choice of the next vertex, an additional coefficient is introduced, decreasing after the conflict between agents arrived at this vertex simultaneously. The algorithm is built in the system of computer mathematics Maple and can find application for the management of a group of mobile robots.