Patent ID: 11882023
Assignee: THE GOVERNMENT OF THE UNITED STATES OF AMERICA, REPRESENTED BY THE SECRETARY OF THE NAVY
Field: Digital communication (Electrical engineering)
Classification: CPC H | IPC H

Claim 13:
14. The system for multiagent pathfinding associated with a domain-of-discourse according to claim 9, wherein the rigid constraint scores are associated with one or more of the following rigid constraints:
(R1) Each agent has a designated start-of-route location, denoted as src, and an end-of-route location, dest;
(R2) Each agent's route must go through at least LR2=(L−12)/A (A: number of total agents) locations of an L designated drop-off and pickup locations; and
(R3) Each of the L designated drop-off and pickup locations must be assigned to at least one agent, paths that conform to rigid constraints are called admissible; others are inadmissible, and the method only considers admissible paths.