Review of Path Planning, Search, and Area Coverage Methods for Multi-Agent Systems with Emphasis on Mathematical and Ergodic Approaches

MILA ZOVKO; IVANA MARIĆ

Detalji o radu

Broj pregleda rada: 38

Naslov: Review of Path Planning, Search, and Area Coverage Methods for Multi-Agent Systems with Emphasis on Mathematical and Ergodic Approaches

DOI: https://doi.org/10.47960/3029-3200.2026.2.2.10

Godina: 2026

Autori: MILA ZOVKO, IVANA MARIĆ

Sažetak: This paper provides a structured overview of path planning, search, and area coverage problems, with a focus on multi-agent autonomous systems and mathematically grounded approaches. The evolution of path planning is reviewed, from classical graph-based, sampling-based, and artificial potential field methods to recent centralized and decentralized multi-agent pathfinding (MAPF) strategies. Search methods are examined from early Koopman models to adaptive real-time algorithms, while area coverage approaches are discussed from distributed Voronoi-based strategies to modern ergodic methods such as SMC and HEDAC. The interconnections between path planning, search, and coverage are highlighted, and a comparative analysis of the reviewed methods is presented, emphasizing their advantages, limitations, and suitability for operation in uncertain environments with limited resources.

Vrsta rada: Pregledni članak

Izdanje: International Journal of Innovative Solutions in Engineering (IJISE)

Znanstvena područja: MATEMATIKA , FIZIKA , KEMIJA , GEOZNANOSTI , BIOLOGIJA , RAČUNALNE I INFORMATIČKE ZNANOSTI , INTERDISCIPLINARNE PRIRODNE ZNANOSTI , PRIRODNE ZNANOSTI , ARHITEKTURA I URBANIZAM , ELEKTROTEHNIKA , GRAĐEVINARSTVO, GEODEZIJA I RUDARSTVO , KEMIJSKO INŽENJERSTVO , METALURGIJA , STROJARSTVO , RAČUNARSTVO , TEHNOLOGIJA PROMETA I TRANSPORTA , OSTALE TEHNIČKE ZNANOSTI , TEHNIČKE ZNANOSTI