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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 115 (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 29 (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 22 (7 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 17 (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.
Dynamic Expression Trees
, 1991
"... We present a technique for dynamically maintaining a collection of arithmetic expressions represented by binary trees (whose leaves are variables and whose internal nodes are operators). A query operation asks for the value of an expression (associated with the root of a tree). Update operations inc ..."
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Cited by 11 (3 self)
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We present a technique for dynamically maintaining a collection of arithmetic expressions represented by binary trees (whose leaves are variables and whose internal nodes are operators). A query operation asks for the value of an expression (associated with the root of a tree). Update operations include changing the value of a variable and combining or decomposing expressions by linking or cutting the corresponding trees. Our dynamic data structure uses linear space and supports queries and updates in logarithmic time. An important application is the dynamic maintenance of maximum flow and shortest path in seriesparallel digraphs under a sequence of vertex and edge insertions, series and parallel compositions, and their respective inverses. Queries include reporting the maximum flow or shortest stpath in a seriesparallel subgraph.
Incremental heuristic search in artificial intelligence
 Artificial Intelligence Magazine
"... Incremental search reuses information from previous searches to find solutions to a series of similar search problems potentially faster than is possible by solving each search problem from scratch. This is important since many artificial intelligence systems have to adapt their plans continuously t ..."
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Cited by 8 (5 self)
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Incremental search reuses information from previous searches to find solutions to a series of similar search problems potentially faster than is possible by solving each search problem from scratch. This is important since many artificial intelligence systems have to adapt their plans continuously to changes in (their knowledge of) the world. In this article, we therefore give an overview of incremental search, focusing on Lifelong Planning A*, and outline some of its possible applications in artificial intelligence. Overview It is often important that searches be fast. Artificial intelligence has developed several ways of speeding up searches by trading off the search time and the cost of the resulting path. This includes using inadmissible heuristics (Pohl
Incremental maintenance of shortest distance and transitive closure in firstorder logic and sql
 ACM Trans. Database Syst
"... Given a database, the view maintenance problem is concerned with the efficient computation of the new contents of a given view when updates to the database happen. We consider the view maintenance problem for the situation when the database contains a (weighted) graph and the view is either the tran ..."
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Cited by 6 (2 self)
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Given a database, the view maintenance problem is concerned with the efficient computation of the new contents of a given view when updates to the database happen. We consider the view maintenance problem for the situation when the database contains a (weighted) graph and the view is either the transitive closure or the answer to the allpairs shortestdistance problem (APSD). We give incremental algorithms for (APSD), which support both edge insertions and deletions. For transitive closure, the algorithm is applicable to a more general class of graphs than those previously explored. Our algorithms use firstorder queries, along with addition (+) and lessthan (<) operations (F O(+, <)); they store O(n 2) number of tuples, where n is the number of vertices, and have AC 0 data complexity for integer weights. Since F O(+, <) is a sublanguage of SQL and is supported by almost all current database systems, our maintenance algorithms are more appropriate for database applications than nondatabase query type of maintenance algorithms.
Fully Dynamic Planarity Testing with Applications
"... The fully dynamic planarity testing problem consists of performing an arbitrary sequence of the following three kinds of operations on a planar graph G: (i) insert an edge if the resultant graph remains planar; (ii) delete an edge; and (iii) test whether an edge could be added to the graph without ..."
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Cited by 6 (0 self)
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The fully dynamic planarity testing problem consists of performing an arbitrary sequence of the following three kinds of operations on a planar graph G: (i) insert an edge if the resultant graph remains planar; (ii) delete an edge; and (iii) test whether an edge could be added to the graph without violating planarity. We show how to support each of the above operations in O(n2=3) time, where n is the number of vertices in the graph. The bound for tests and deletions is worstcase, while the bound for insertions is amortized. This is the first algorithm for this problem with sublinear running time, and it affirmatively answers a question posed in [11]. The same data structure has further applications in maintaining the biconnected and triconnected components of a dynamic planar graph. The time bounds are the same: O(n2=3) worstcase time per edge deletion, O(n2=3) amortized time per edge insertion, and O(n2=3) worstcase time to check whether two vertices are either biconnected or triconnected.