Improving HLRTA*(k)

Authors:
Carlos Hernández;Pedro Meseguer
Affiliations:
UCSC, Caupolicán 491, Concepción, Chile;IIIA, CSIC, Campus UAB, 08193 Bellaterra, Spain
Venue:
Current Topics in Artificial Intelligence
Year:
2007

Citing 6
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Abstract

Real-time search methods allow an agent to move in unknown environments. We provide two enhancements to the real-time search algorithm HLRTA*(k). First, we give a better way to perform bounded propagation, generating the HLRTA*LS(k) algorithm. Second, we consider the option of doing more than one action per planning step, by analyzing the quality of the heuristic found during lookahead, producing the HLRTA*(k,d) algorithm. We provide experimental evidence of the benefits of both algorithms, with respect to other real-time algorithms on existing benchmarks.