Heuristics: intelligent search strategies for computer problem solving
Heuristics: intelligent search strategies for computer problem solving
Algorithmic and complexity issues of robot motion in an uncertain environment
Journal of Complexity
Introduction to algorithms
Shortest watchman routes in simple polygons
Discrete & Computational Geometry
Do the right thing: studies in limited rationality
Do the right thing: studies in limited rationality
Theoretical Computer Science
Dynamic map building for an autonomous mobile robot
International Journal of Robotics Research
A note on the combinatorial structure of the visibility graph in simple polygons
Theoretical Computer Science - Special issue on design and analysis of geometrical algorithms for robot motion planning and vision
Sensor based motion planning: the hierarchical generalized Voronoi graph
Sensor based motion planning: the hierarchical generalized Voronoi graph
Graph learning with a nearest neighbor approach
COLT '96 Proceedings of the ninth annual conference on Computational learning theory
Navigating in Unfamiliar Geometric Terrain
SIAM Journal on Computing
How to learn an unknown environment. I: the rectilinear case
Journal of the ACM (JACM)
Remote Agent: to boldly go where no AI system has gone before
Artificial Intelligence - Special issue: artificial intelligence 40 years later
Map learning and high-speed navigation in RHINO
Artificial intelligence and mobile robots
Xavier: a robot navigation architecture based on partially observable Markov decision process models
Artificial intelligence and mobile robots
A competitive strategy for learning a polygon
SODA '97 Proceedings of the eighth annual ACM-SIAM symposium on Discrete algorithms
Piecemeal graph exploration by a mobile robot
Information and Computation
Exploring unknown undirected graphs
Journal of Algorithms
Exploring unknown environments with real-time search or reinforcement learning
Proceedings of the 1998 conference on Advances in neural information processing systems II
Exploring Unknown Environments
SIAM Journal on Computing
Interleaving Planning and Execution for Autonomous Robots
Interleaving Planning and Execution for Autonomous Robots
AI Magazine
Computing a Shortest Watchman Path in a Simple Polygon in Polynomial-Time
WADS '95 Proceedings of the 4th International Workshop on Algorithms and Data Structures
On a Simple Depth-First Search Strategy for Exploring Unknown Graphs
WADS '97 Proceedings of the 5th International Workshop on Algorithms and Data Structures
Constructing Shortest Watchman Routes by Divide-and-Conquer
ISAAC '93 Proceedings of the 4th International Symposium on Algorithms and Computation
Exploration of Unknown Environments by a Mobile Robot
Intelligent Autonomous Systems 2, An International Conference
Eighteenth national 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
Real-time search in non-deterministic domains
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
An optimal competitive strategy for walking in streets
STACS'99 Proceedings of the 16th annual conference on Theoretical aspects of computer science
Real-time map building and navigation for autonomous robots inunknown environments
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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
Comparing real-time and incremental heuristic search for real-time situated agents
Autonomous Agents and Multi-Agent Systems
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 2
Simple optimization techniques for A*-based search
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 2
An anytime approach for on-line planning
Proceedings of the 2005 conference on Artificial Intelligence Research and Development
Speeding up learning in real-time search via automatic state abstraction
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
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
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Real-time heuristic search with a priority queue
IJCAI'07 Proceedings of the 20th international joint conference on Artifical 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
Adaptive navigation for autonomous robots
Robotics and Autonomous Systems
The 10th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
An on-line approach for planning in time-limited situations
IEA/AIE'06 Proceedings of the 19th international conference on Advances in Applied Artificial Intelligence: industrial, Engineering and Other Applications of Applied Intelligent Systems
Real-time heuristic search with depression avoidance
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume One
Planning under partial observability by classical replanning: theory and experiments
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume Three
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 2
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
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Planning in nondeterministic domains is typically intractable due to the large number of contingencies. Two techniques for speeding up planning in nondeterministic domains are agent-centered search and assumption-based planning. Both techniques interleave planning in deterministic domains with plan execution. They differ in how they make planning deterministic. To determine how suboptimal their plans are, we study two planning methods for robot navigation in initially unknown terrain that have successfully been used on mobile robots but not been analyzed before. The planning methods differ both in the technique they use to speed up planning and in the robotnavigation task they solve. Greedy Mapping uses agent-centered search to map unknown terrain. Dynamic A* uses assumption-based planning to navigate to a given goal location in unknown terrain. When we formalize abstractions of these planning methods on undirected graphs G = (V, E), they turn out to be similar enough that we are able to analyze their travel distance in a unified way. We discover that neither method is optimal in a worst-case sense, by a factor of Ω (log |V|/log log |V|). We also derive factor O(√|V|) upper bounds to show that these methods are not very badly sub-optimal in this sense. These results provide a first step towards explaining the good empirical results that have been reported about Greedy Mapping and Dynamic A* in the experimental literature. More generally, they show how to use tools from graph theory to analyze the plan quality of practical planning methods for nondeterministic domains.