• Documents
  • Authors
  • Tables
  • Log in
  • Sign up
  • MetaCart
  • DMCA
  • Donate

CiteSeerX logo

Advanced Search Include Citations
Advanced Search Include Citations

DMCA

Lifelong Planning A* (2005)

Cached

  • Download as a PDF

Download Links

  • [www-2.cs.cmu.edu]
  • [www.cis.upenn.edu]
  • [www.cs.cmu.edu]
  • [www.cs.cmu.edu]
  • [fai.cs.uni-saarland.de]
  • [www.cs.cmu.edu]

  • Save to List
  • Add to Collection
  • Correct Errors
  • Monitor Changes
by Sven Koenig , Maxim Likhachev , David Furcy
Citations:58 - 3 self
  • Summary
  • Citations
  • Active Bibliography
  • Co-citation
  • Clustered Documents
  • Version History

BibTeX

@MISC{Koenig05lifelongplanning,
    author = {Sven Koenig and Maxim Likhachev and David Furcy},
    title = { Lifelong Planning A*},
    year = {2005}
}

Share

Facebook Twitter Reddit Bibsonomy

OpenURL

 

Abstract

Heuristic search methods promise to find shortest paths for path-planning problems faster than uninformed search methods. Incremental search methods, on the other hand, promise to find shortest paths for series of similar path-planning problems faster than is possible by solving each path-planning 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 g-values 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 path-planning problems change only slightly and the changes are close to the goal.

Keyphrases

shortest path    path-planning problem    subsequent search    algorithm literature    uninformed search method    graph change    first search    edge cost    different domain    incremental search method    incremental version    heuristic search method    present analytical result    similar path-planning problem    goal vertex    potential advantage    experimental result    previous search tree    start vertex    artificial intelligence   

Powered by: Apache Solr
  • About CiteSeerX
  • Submit and Index Documents
  • Privacy Policy
  • Help
  • Data
  • Source
  • Contact Us

Developed at and hosted by The College of Information Sciences and Technology

© 2007-2019 The Pennsylvania State University