METHOD AND DEVICE FOR GROUP-AWARE MULTI-AGENT MOTION PATH PLANNING

The present invention relates to a computer-implemented method for planning a motion path for multiple agents (2), comprising the steps of: - performing (S4) a conflict-based motion planning for the multiple agents (2), wherein conflict-free motion paths for each of the agents (2) are determined depending on movement costs, - determining (S2) the poses and velocities of one or more individual objects (I) and one or more groups (G) of objects; - calculating (S3) the movement costs depending on interaction costs of each of the agents (2) with the one or more objects (I) and/or the one or more groups (G) of objects.