# Recursive Tree Representation for Multi Agent Robots?

I have been going through a code base for multi agent motion planning. And I came across a recursive tree building algorithm for the agents. I haven't been able to figure out the algorithm. Does anyone know what it is called? Or any other similar kinds of algorithms so I could read more about it?

Here is what I got from the code: The node of the tree is as follows -

>   struct AgentTreeNode {
>     int begin;
>     int end;
>     float minX, maxX, minY, maxY;
>     int left;
>     int right;   };


Each node has a max and min value for x and y. And also a begin, end, left and right value.

Then the tree is split either horizontally or vertically based on which limits are longer (x or y). And an optimal value is found and agents are split.

Then these split agents are recursively build again.

Thank you very much.