Pathfinding in two and three-dimensional spaces using an automated planning service

A system for pathfinding using an automated planning service, comprising:

• an automated planning service comprising a memory, a processor, and a plurality of programming instructions stored in the memory thereof and operable on the processor thereof, wherein the programmable instructions, when operating on the processor, cause the processor to:
• operate a plurality of master computing nodes, each master computing node in turn operating a plurality of worker computing nodes;
• receive a pathfinding problem at a first master computing node;
• receive, from a distributed computational graph, a plurality of pathfinding constraints, wherein the plurality of pathfinding constraints are based, at least in part, on streaming data received by the distributed computational graph from a plurality of sensors associated with the system;
• construct a plurality of environment segments based on the pathfinding problem and the plurality of pathfinding constraints;
• assign, using the first master computing node, a plurality of discrete simulation tasks to a plurality of worker computing nodes, each of the plurality of discrete simulation tasks being based on the constructed plurality of environment segments, wherein each of the plurality of worker computing nodes is assigned exactly one of the plurality of discrete simulation tasks at any given time during operation;
• receive, at the first master computing node, results of each of the plurality of discrete simulation tasks from the plurality of worker computing nodes as the discrete simulation tasks are completed;
• analyze, using the first master computing node, the received results to determine whether any of the worker computing nodes have collided in their respective environment segments;
• combine, using the first master computing node, at least some of the environment segments where the respective worker computing nodes have not collided into abstracted environment super-segments;
• update, using the first master computing node, at least some of the environment segments where the respective worker computing nodes have collided into updated environment segments;
• produce, using the first master computing node, additional pathfinding constraints based on the abstracted environment super-segments, the updated environment segments, and additional streaming data received by the distributed computational graph from the plurality of sensors;
• instruct, using the first master computing node, at least one of the worker computing nodes to perform at least one additional discrete simulation task to generate an agent-aware result for the pathfinding problem, wherein the additional discrete simulation task is based on the additional pathfinding constraints;
• and
• provide the agent-aware result for the pathfinding problem to the distributed computational graph.