Heuristics: intelligent search strategies for computer problem solving
Heuristics: intelligent search strategies for computer problem solving
Artificial Intelligence
Do the right thing: studies in limited rationality
Do the right thing: studies in limited rationality
Linear-space best-first search
Artificial Intelligence
Learning to act using real-time dynamic programming
Artificial Intelligence - Special volume on computational research on interaction and agency, part 1
Speeding up problem solving by abstraction: a graph oriented approach
Artificial Intelligence - Special volume on empirical methods
Real-time search for learning autonomous agents
Real-time search for learning autonomous agents
Value-update rules for real-time search
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Minimax real-time heuristic search
Artificial Intelligence - Special issue on heuristic search in artificial intelligence
AI Magazine
An Admissible Heuristic Search Algorithm
ISMIS '93 Proceedings of the 7th International Symposium on Methodologies for Intelligent Systems
Speeding up the Convergence of Real-Time Search
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Eighteenth national conference on Artificial intelligence
Performance bounds for planning in unknown terrain
Artificial Intelligence - special issue on planning with uncertainty and incomplete information
Building Terrain-Covering Ant Robots: A Feasibility Study
Autonomous Robots
Artificial Intelligence
Incremental heuristic search in AI
AI Magazine
A Comparison of Fast Search Methods for Real-Time Situated Agents
AAMAS '04 Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems - Volume 2
Learning in real-time search: a unifying framework
Journal of Artificial Intelligence Research
The fringe-saving A* search algorithm: a feasibility study
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Comparison of different grid abstractions for pathfinding on maps
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Multiple agents moving target search
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
A robust and fast action selection mechanism for planning
AAAI'97/IAAI'97 Proceedings of the fourteenth national conference on artificial intelligence and ninth conference on Innovative applications of artificial intelligence
Easy and hard testbeds for real-time search algorithms
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 1
Fast replanning for navigation in unknown terrain
IEEE Transactions on Robotics
On learning in agent-centered search
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Escaping heuristic depressions in real-time heuristic search
The 10th International Conference on Autonomous Agents and Multiagent Systems - Volume 3
Multi-agent framework for real-time processing of large and dynamic search spaces
Proceedings of the 27th Annual ACM Symposium on Applied Computing
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume One
Real-time heuristic search with depression avoidance
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume One
Avoiding and escaping depressions in real-time heuristic search
Journal of Artificial Intelligence Research
Weighted real-time heuristic search
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Heuristic search when time matters
Journal of Artificial Intelligence Research
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Real-time situated agents, such as characters in real-time computer games, often do not know the terrain in advance but automatically observe it within a certain range around themselves. They have to interleave searches with action executions to make the searches tractable when moving autonomously to user-specified coordinates. The searches face real-time requirements since it is important that the agents be responsive to the commands of the users and move smoothly. In this article, we compare two classes of fast heuristic search methods for these navigation tasks that speed up A* searches in different ways, namely real-time heuristic search and incremental heuristic search, to understand their advantages and disadvantages and make recommendations about when each one should be used. We first develop a competitive real-time heuristic search method. LSS-LRTA* is a version of Learning Real-Time A* that uses A* to determine its local search spaces and learns quickly. We analyze the properties of LSS-LRTA* and then compare it experimentally against the state-of-the-art incremental heuristic search method D* Lite on our navigation tasks, for which D* Lite was specifically developed, resulting in the first comparison of real-time and incremental heuristic search in the literature. We characterize when to choose each one of the two heuristic search methods, depending on the search objective and the kind of terrain. Our experimental results show that LSS-LRTA* can outperform D* Lite under the right conditions, namely when there is time pressure or the user-supplied h-values are generally not misleading.