Heuristics: intelligent search strategies for computer problem solving
Heuristics: intelligent search strategies for computer problem solving
An incremental algorithm for a generalization of the shortest-path problem
Journal of Algorithms
Map learning and high-speed navigation in RHINO
Artificial intelligence and mobile robots
Fully dynamic algorithms for maintaining shortest paths trees
Journal of Algorithms
Problem-Solving Methods in Artificial Intelligence
Problem-Solving Methods in Artificial Intelligence
A domain-independent algorithm for plan adaptation
Journal of Artificial Intelligence Research
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
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
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
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
AAMAS '06 Proceedings of the fifth international joint conference on Autonomous agents and multiagent systems
Real time target evaluation search
AAMAS '06 Proceedings of the fifth international joint conference on Autonomous agents and multiagent systems
Distributed navigation in an unknown physical environment
AAMAS '06 Proceedings of the fifth international joint conference on Autonomous agents and multiagent systems
Searching for close alternative plans
Autonomous Agents and Multi-Agent Systems
RTTES: Real-time search in dynamic environments
Applied Intelligence
Speeding up moving-target search
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
Incremental reconstruction of generalized Voronoi diagrams on grids
Robotics and Autonomous Systems
Comparing real-time and incremental heuristic search for real-time situated agents
Autonomous Agents and Multi-Agent Systems
Probabilistic planning with clear preferences on missing information
Artificial Intelligence
Analyzing the performance of randomized information sharing
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 2
The BDD-Based Dynamic A* Algorithm for Real-Time Replanning
FAW '09 Proceedings of the 3d International Workshop on Frontiers in Algorithmics
DD* lite: efficient incremental search with state dominance
AAAI'06 proceedings of the 21st national conference on Artificial intelligence - Volume 2
Speeding up learning in real-time search via automatic state abstraction
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
PHA*: finding the shortest path with A* in an unknown physical environment
Journal of Artificial Intelligence Research
Learning in real-time search: a unifying framework
Journal of Artificial Intelligence Research
Graph abstraction in real-time heuristic search
Journal of Artificial Intelligence Research
Real-time heuristic search with a priority queue
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Multiple agents moving target search
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Canadian traveler problem with remote sensing
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Incremental Phi*: incremental any-angle path planning on grids
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
ACC'09 Proceedings of the 2009 conference on American Control Conference
Efficient C-space and cost function updates in 3D for unmanned aerial vehicles
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
FAHR: focused A* heuristic recomputation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Variable sized grid cells for rapid replanning in dynamic environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Kinodynamic motion planning for mobile robots using splines
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Trajectory control of wheeled mobile robots based on virtual manipulators
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A learning approach to integration of layers of a hybrid control architecture
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Autonomous Agents and Multi-Agent Systems
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Optimization and learning for rough terrain legged locomotion
International Journal of Robotics Research
Pursuit evasion in dynamic environments with visibility constraints
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part II
A neuromorphic model of spatial lookahead planning
Neural Networks
Theta*: any-angle path planning on grids
Journal of Artificial Intelligence Research
Decision and coordination strategies for robocup rescue agents
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Limited-Damage A*: A path search algorithm that considers damage as a feasibility criterion
Knowledge-Based Systems
ID* Lite: improved D* Lite algorithm
Proceedings of the 2011 ACM Symposium on Applied Computing
Robot routing approaches for convoy merging maneuvers
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Moving Target Search Using Theory of Mind
WI-IAT '11 Proceedings of the 2011 IEEE/WIC/ACM International Conferences on Web Intelligence and Intelligent Agent Technology - Volume 02
Survey of Motion Planning Literature in the Presence of Uncertainty: Considerations for UAV Guidance
Journal of Intelligent and Robotic Systems
Path Planning Strategies for UAVS in 3D Environments
Journal of Intelligent and Robotic Systems
Lee path replanner for partially-known environments
HAIS'12 Proceedings of the 7th international conference on Hybrid Artificial Intelligent Systems - Volume Part I
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 2
WAMbot: Team MAGICian's entry to the Multi Autonomous Ground-robotic International Challenge 2010
Journal of Field Robotics
Avoiding and escaping depressions in real-time heuristic search
Journal of Artificial Intelligence Research
Implementation of robot routing approaches for convoy merging manoeuvres
Robotics and Autonomous Systems
Navigation of mobile robot by using D++ algorithm
Intelligent Service Robotics
Field D* path-finding on weighted triangulated and tetrahedral meshes
Autonomous Agents and Multi-Agent Systems
A Multi-objective Incremental Path Planning Algorithm for Mobile Agents
WI-IAT '12 Proceedings of the The 2012 IEEE/WIC/ACM International Joint Conferences on Web Intelligence and Intelligent Agent Technology - Volume 02
A new approach for continual planning
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Multi-domain real-time planning in dynamic environments
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Invariants for homology classes with application to optimal search and planning problem in robotics
Annals of Mathematics and Artificial Intelligence
Efficient grid-based spatial representations for robot navigation in dynamic environments
Robotics and Autonomous Systems
Integrated motion planning and control for graceful balancing mobile robots
International Journal of Robotics Research
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Incremental heuristic search methods use heuristics to focus their search and reuse information from previous searches to find solutions to series of similar search tasks much faster than is possible by solving each search task from scratch. In this paper, we apply Lifelong Planning A* to robot navigation in unknown terrain, including goal-directed navigation in unknown terrain and mapping of unknown terrain. The resulting D* Lite algorithm is easy to understand and analyze. It implements the same behavior as Stentz' Focussed Dynamic A* but is algorithmically different. We prove properties about D* Lite and demonstrate experimentally the advantages of combining incremental and heuristic search for the applications studied. We believe that these results provide a strong foundation for further research on fast replanning methods in artificial intelligence and robotics.