Computing minimum length paths of a given homotopy class
Computational Geometry: Theory and Applications
Partial pathfinding using map abstraction and refinement
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Hierarchical A *: searching abstraction hierarchies efficiently
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 1
Hierarchical path planning for situated agents in informed virtual geographic environments
Proceedings of the 3rd International ICST Conference on Simulation Tools and Techniques
Navigation queries from triangular meshes
MIG'10 Proceedings of the Third international conference on Motion in games
Limited-Damage A*: A path search algorithm that considers damage as a feasibility criterion
Knowledge-Based Systems
From geometry to spatial reasoning: automatic structuring of 3d virtual environments
MIG'11 Proceedings of the 4th international conference on Motion in Games
Hierarchical path-finding based on decision tree
RSKT'12 Proceedings of the 7th international conference on Rough Sets and Knowledge Technology
Invariants for homology classes with application to optimal search and planning problem in robotics
Annals of Mathematics and Artificial Intelligence
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In this paper we present a method for abstracting an environment represented using constrained Delaunay triangulations in a way that significantly reduces pathfinding search effort, as well as better representing the basic structure of the environment. The techniques shown here are ideal for objects of varying sizes and environments that are not axis-aligned or that contain many dead-ends, long corridors, or jagged walls that complicate other search techniques. In fact, the abstraction simplifies pathfinding to deciding to which side of each obstacle to go. This technique is suited to real-time computation both because of its speed and because it lends itself to an anytime algorithm, allowing it to work when varying amounts of resources are assigned to pathfinding. We test search algorithms running on both the base triangulation (Triangulation A* - TA*) and our abstraction (Triangulation Reduction A* - TRA*) against A* and PRA* on grid-based maps from the commercial games Baldur's Gate and WarCraft III. We find that in these cases almost all paths are found much faster using TA*, and more so using TRA*.