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An Incremental Algorithm for a Generalization of the ShortestPath Problem
, 1992
"... The grammar problem, a generalization of the singlesource shortestpath problem introduced by Knuth, is to compute the minimumcost derivation of a terminal string from each nonterminal of a given contextfree grammar, with the cost of a derivation being suitably defined. This problem also subsume ..."
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Cited by 121 (1 self)
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The grammar problem, a generalization of the singlesource shortestpath problem introduced by Knuth, is to compute the minimumcost derivation of a terminal string from each nonterminal of a given contextfree grammar, with the cost of a derivation being suitably defined. This problem also subsumes the problem of finding optimal hyperpaths in directed hypergraphs (under varying optimization criteria) that has received attention recently. In this paper we present an incremental algorithm for a version of the grammar problem. As a special case of this algorithm we obtain an efficient incremental algorithm for the singlesource shortestpath problem with positive edge lengths. The aspect of our work that distinguishes it from other work on the dynamic shortestpath problem is its ability to handle "multiple heterogeneous modifications": between updates, the input graph is allowed to be restructured by an arbitrary mixture of edge insertions, edge deletions, and edgelength changes.
On the Computational Complexity of Dynamic Graph Problems
 THEORETICAL COMPUTER SCIENCE
, 1996
"... ..."
Lifelong Planning A*
, 2005
"... Heuristic search methods promise to find shortest paths for pathplanning problems faster than uninformed search methods. Incremental search methods, on the other hand, promise to find shortest paths for series of similar pathplanning problems faster than is possible by solving each pathplanning p ..."
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Cited by 33 (3 self)
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Heuristic search methods promise to find shortest paths for pathplanning problems faster than uninformed search methods. Incremental search methods, on the other hand, promise to find shortest paths for series of similar pathplanning problems faster than is possible by solving each pathplanning problem from scratch. In this article, we develop Lifelong Planning A * (LPA*), an incremental version of A * that combines ideas from the artificial intelligence and the algorithms literature. It repeatedly finds shortest paths from a given start vertex to a given goal vertex while the edge costs of a graph change or vertices are added or deleted. Its first search is the same as that of a version of A * that breaks ties in favor of vertices with smaller gvalues but many of the subsequent searches are potentially faster because it reuses those parts of the previous search tree that are identical to the new one. We present analytical results that demonstrate its similarity to A * and experimental results that demonstrate its potential advantage in two different domains if the pathplanning problems change only slightly and the changes are close to the goal.
Fast replanning for navigation in unknown terrain
 Transactions on Robotics
"... Abstract—Mobile robots often operate in domains that are only incompletely known, for example, when they have to move from given start coordinates to given goal coordinates in unknown terrain. In this case, they need to be able to replan quickly as their knowledge of the terrain changes. Stentz ’ Fo ..."
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Cited by 24 (8 self)
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Abstract—Mobile robots often operate in domains that are only incompletely known, for example, when they have to move from given start coordinates to given goal coordinates in unknown terrain. In this case, they need to be able to replan quickly as their knowledge of the terrain changes. Stentz ’ Focussed Dynamic A (D) is a heuristic search method that repeatedly determines a shortest path from the current robot coordinates to the goal coordinates while the robot moves along the path. It is able to replan faster than planning from scratch since it modifies its previous search results locally. Consequently, it has been extensively used in mobile robotics. In this article, we introduce an alternative to D that determines the same paths and thus moves the robot in the same way but is algorithmically different. D Lite is simple, can be rigorously analyzed, extendible in multiple ways, and is at least as efficient as D. We believe that our results will make Dlike replanning methods even more popular and enable robotics researchers to adapt them to additional applications. Index Terms—A, D (Dynamic A), navigation in unknown terrain, planning with the freespace assumption, replanning, search, sensorbased path planning. I.
Anytime Search in Dynamic Graphs
"... Agents operating in the real world often have limited time available for planning their next actions. Producing optimal plans is infeasible in these scenarios. Instead, agents must be satisfied with the best plans they can generate within the time available. One class of planners wellsuited to this ..."
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Cited by 19 (5 self)
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Agents operating in the real world often have limited time available for planning their next actions. Producing optimal plans is infeasible in these scenarios. Instead, agents must be satisfied with the best plans they can generate within the time available. One class of planners wellsuited to this task are anytime planners, which quickly find an initial, highly suboptimal plan, and then improve this plan until time runs out. A second challenge associated with planning in the real world is that models are usually imperfect and environments are often dynamic. Thus, agents need to update their models and consequently plans over time. Incremental planners, which make use of the results of previous planning efforts to generate a new plan, can substantially speed up each planning episode in such cases. In this paper, we present an A*based anytime search algorithm that produces significantly better solutions than current approaches, while also providing suboptimality bounds on the quality of the solution at any point in time. We also present an extension of this algorithm that is both anytime and incremental. This extension improves its current solution while deliberation time allows and is able to incrementally repair its solution when changes to the world model occur. We provide a number of theoretical and experimental results and demonstrate the effectiveness of the approaches in a robot navigation domain involving two physical systems. We believe that the simplicity, theoretical properties, and generality of the presented methods make them well suited to a range of search problems involving large, dynamic graphs.
Speeding up dynamic shortest path algorithms
 AT&T labs Research Technical Report, TD5RJ8B, Florham Park, NJ
, 2003
"... doi 10.1287/ijoc.1070.0231 ..."
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A New Algorithm for Reoptimizing Shortest Paths When the Arc Costs Change
, 2001
"... We propose an algorithm which reoptimizes shortest paths in a very general situation, that is when any subset of arcs of the input graph is aected by a change of the arc costs, which can be either lower or higher than the old ones. This situation is more general than the ones addressed in the lit ..."
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Cited by 11 (0 self)
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We propose an algorithm which reoptimizes shortest paths in a very general situation, that is when any subset of arcs of the input graph is aected by a change of the arc costs, which can be either lower or higher than the old ones. This situation is more general than the ones addressed in the literature so far.
Lower And Upper Bounds For Incremental Algorithms
, 1992
"... An incremental algorithm (also called a dynamic update algorithm) updates the answer to some problem after an incremental change is made in the input. We examine methods for bounding the performance of such algorithms. First, quite general but relatively weak bounds are considered, along with a care ..."
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Cited by 3 (0 self)
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An incremental algorithm (also called a dynamic update algorithm) updates the answer to some problem after an incremental change is made in the input. We examine methods for bounding the performance of such algorithms. First, quite general but relatively weak bounds are considered, along with a careful examination of the conditions under which they hold. Next, a more powerful proof method, the Incremental Relative Lower Bound is presented, along with its application to a number of important problems. We then examine an alternative approach, deltaanalysis, which had been proposed previously, apply it to several new problems and show how it can be extended. For the specific problem of updating the transitive closure of an acyclic digraph, we present the first known incremental algorithm that is efficient in the deltaanalysis sense. Finally, we criti...