רון שטרן

The k-goal problem is a generalization of the Shortest Path Problem (SPP) in which the task is to solve k SPP problems, such that all the problems share the same start vertex. kGP was introduced to the heuristic search community for building an Incremental Roadmap Spanner technique (Dobson and Bekris 2014), which is a useful construct in motion plannin for robotics. But kGP has many other applications, e.g., when path planning for multiple drones flying from a central dispatcher location to k target locations.