Path-adaptive A* for incremental heuristic search in unknown terrain

Carlos Hernández, Pedro Meseguer, Xiaoxun Sun, Sven Koenig

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Citations (Scopus)

Abstract

Adaptive A* is an incremental version of A* that updates the h-values of the previous A* search to make them more informed and thus future A* searches more focused. In this paper, we show how the A* searches performed by Adaptive A* can reuse part of the path of the previous search and terminate before they expand a goal state, resulting in Path-Adaptive A*. We demonstrate experimentally that Path-Adaptive A* expands fewer states per search and runs faster than Adaptive A* when solving path-planning problems in initially unknown terrain.

Original languageEnglish
Title of host publicationICAPS 2009 - Proceedings of the 19th International Conference on Automated Planning and Scheduling
Pages358-361
Number of pages4
Publication statusPublished - 2009
Event19th International Conference on Automated Planning and Scheduling, ICAPS 2009 - Thessaloniki, Greece
Duration: 19 Sep 200923 Sep 2009

Other

Other19th International Conference on Automated Planning and Scheduling, ICAPS 2009
Country/TerritoryGreece
CityThessaloniki
Period19/09/0923/09/09

ASJC Scopus subject areas

  • Strategy and Management

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