Heuristics: intelligent search strategies for computer problem solving
Heuristics: intelligent search strategies for computer problem solving
Performance bounds for planning in unknown terrain
Artificial Intelligence - special issue on planning with uncertainty and incomplete information
Incremental heuristic search in AI
AI Magazine
Anytime search in dynamic graphs
Artificial Intelligence
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Learning in real-time search: a unifying framework
Journal of Artificial Intelligence Research
Comparison of different grid abstractions for pathfinding on maps
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
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Hierarchical A *: searching abstraction hierarchies efficiently
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 1
Fast replanning for navigation in unknown terrain
IEEE Transactions on Robotics
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Incremental heuristic search algorithms can solve sequences of similar search problems potentially faster than heuristic search algorithms that solve each search problem from scratch. So far, there existed incremental heuristic search algorithms (such as Adaptive A*) that make the h-values of the current A* search more informed, which can speed up future A* searches, and incremental heuristic search algorithms (such as D* Lite) that change the search tree of the current A* search to the search tree of the next A* search, which can be faster than constructing it from scratch. In this paper, we present Tree Adaptive A*, which applies to goal-directed navigation in unknown terrain and builds on Adaptive A* but combines both classes of incremental heuristic search algorithms in a novel way. We demonstrate experimentally that it can run faster than Adaptive A*, Path Adaptive A* and D* Lite, the top incremental heuristic search algorithms in the context of goal-directed navigation in unknown grids.