Path planning is considered as a graph search task. Decompositional algorithm is introduced and decomposition procedure is described. Results of the experimental analysis are given.
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Danik Yu. E., Dmitriev M. G., Makarov D. A. On one method of decomposition in the problem of trajectory planning // // Reports of the Academy of Sciences. Vol. 466. No. 3. P. 282–284. 2016