Autonomous hierarchy creation for computationally feasible near-optimal path planning in large environments

Jelena Gregoric, Marija Seder, Ivan Petrovic

Abstract: Highlights•Autonomous creation of an H-graph with five or more levels.•Generation of nodes in H-graph that represent the elevators and the passages between the buildings.•Autonomous creation of an H-Graph with natural close-to-optimal paths and autonomous identification of bridge nodes.•Analysis of partial paths and nodes of the H-graph on three cases of environment.•Analysis of the created hierarchy on the path planning examples in three cases of environment using three different resolutions.