Heuristics: intelligent search strategies for computer problem solving
Heuristics: intelligent search strategies for computer problem solving
A dynamization of the all pairs least cost path problem
Proceedings on STACS 85 2nd annual symposium on theoretical aspects of computer science
Finding paths and deleting edges in directed acyclic graphs
Information Processing Letters
Explaining and repairing plans that fail
Artificial Intelligence
On the dynamic shortest path problem
Journal of Information Processing
Incremental algorithms for minimal length paths
Journal of Algorithms
A validation-structure-based theory of plan modification and reuse
Artificial Intelligence
Dynamic algorithms for shortest paths in planar graphs
Theoretical Computer Science
Solution reuse in dynamic constraint satisfaction problems
AAAI '94 Proceedings of the twelfth national conference on Artificial intelligence (vol. 1)
Plan reuse versus plan generation: a theoretical and empirical analysis
Artificial Intelligence - Special volume on planning and scheduling
On the computational complexity of dynamic graph problems
Theoretical Computer Science
An incremental algorithm for a generalization of the shortest-path problem
Journal of Algorithms
Learning to learn
Fully dynamic output bounded single source shortest path problem
Proceedings of the seventh annual ACM-SIAM symposium on Discrete algorithms
An On-Line Edge-Deletion Problem
Journal of the ACM (JACM)
Fully dynamic algorithms for maintaining shortest paths trees
Journal of Algorithms
Semi-dynamic breadth-first search in digraphs
Theoretical Computer Science
New dynamic algorithms for shortest path tree computation
IEEE/ACM Transactions on Networking (TON)
Planning and Learning by Analogical Reasoning
Planning and Learning by Analogical Reasoning
A Fully Dynamic Approximation Scheme for All-Pairs Shortest Paths in Planar Graphs
WADS '93 Proceedings of the Third Workshop on Algorithms and Data Structures
GRT: A Domain Independent Heuristic for STRIPS Worlds Based on Greedy Regression Tables
ECP '99 Proceedings of the 5th European Conference on Planning: Recent Advances in AI Planning
Dynamic Programming
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
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
Incremental heuristic search in AI
AI Magazine
Speeding up moving-target search
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
A shortest path algorithm with novel heuristics for dynamic transportation networks
International Journal of Geographical Information Science
Peer-to-Peer Shared Ride Systems
GeoSensor Networks
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
The BDD-Based Dynamic A* Algorithm for Real-Time Replanning
FAW '09 Proceedings of the 3d International Workshop on Frontiers in Algorithmics
PBA*: using proactive search to make A* robust to unplanned deviations
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 2
The fringe-saving A* search algorithm: a feasibility study
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
A scalable heuristic for evacuation planning in large road network
Proceedings of the Second International Workshop on Computational Transportation Science
Continuous evaluation of fastest path queries on road networks
SSTD'07 Proceedings of the 10th international conference on Advances in spatial and temporal databases
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
A survey and classification of A* based best-first heuristic search algorithms
SBIA'10 Proceedings of the 20th Brazilian conference on Advances in artificial intelligence
HGA*, an efficient algorithm for path planning in a plane
Scientific and Technical Information Processing
Robot routing approaches for convoy merging maneuvers
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Adaptive path finding for moving objects
W2GIS'05 Proceedings of the 5th international conference on Web and Wireless Geographical Information Systems
Lee path replanner for partially-known environments
HAIS'12 Proceedings of the 7th international conference on Hybrid Artificial Intelligent Systems - Volume Part I
Traffic aware route planning in dynamic road networks
DASFAA'12 Proceedings of the 17th international conference on Database Systems for Advanced Applications - Volume Part I
Multiresolution Hierarchical Path-Planning for Small UAVs Using Wavelet Decompositions
Journal of Intelligent and Robotic Systems
Hierarchical path-finding based on decision tree
RSKT'12 Proceedings of the 7th international conference on Rough Sets and Knowledge Technology
Implementation of robot routing approaches for convoy merging manoeuvres
Robotics and Autonomous Systems
Navigation of mobile robot by using D++ algorithm
Intelligent Service Robotics
On-Road motion planning for autonomous vehicles
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
An agent-based model for simulation of traffic network status
SEAL'12 Proceedings of the 9th international conference on Simulated Evolution and Learning
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 group based approach for path queries in road networks
SSTD'13 Proceedings of the 13th international conference on Advances in Spatial and Temporal Databases
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Heuristic search methods promise to find shortest paths for path-planning problems faster than uninformed search methods. Incremental search methods, on the other hand, promise to find shortest paths for series of similar path-planning problems faster than is possible by solving each path-planning problem from scratch. In this article, we develop Lifelong Planning A* (LPA*), an incremental version of A* that combines ideas from the artificial intelligence and the algorithms literature. It repeatedly finds shortest paths from a given start vertex to a given goal vertex while the edge costs of a graph change or vertices are added or deleted. Its first search is the same as that of a version of A* that breaks ties in favor of vertices with smaller g-values but many of the subsequent searches are potentially faster because it reuses those parts of the previous search tree that are identical to the new one. We present analytical results that demonstrate its similarity to A* and experimental results that demonstrate its potential advantage in two different domains if the path-planning problems change only slightly and the changes are close to the goal.