ROUTE PLANNING SYSTEM, ROUTE PLANNING METHOD, ROADMAP CONSTRUCTING DEVICE, MODEL GENERATING DEVICE, AND MODEL GENERATING METHOD

A route planning system according to one aspect of the present invention uses a trained roadmap constructing model to construct a roadmap for each agent. The trained roadmap constructing model is generated through machine learning using learning data obtained from correct answer routes for a plurality of agents for learning. The route planning system constructs a roadmap for each agent by repeating processing in which the trained roadmap constructing model is used to estimate a candidate state of a next time step from a target time step, while individually designating the agents as the target agent.