Visibility of disjoint polygons
Algorithmica
On shortest paths in polyhedral spaces
SIAM Journal on Computing
Principles of artificial intelligence
Principles of artificial intelligence
A survey of motion planning and related geometric algorithms
Artificial Intelligence - Special issue on geometric reasoning
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
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Two problems are associated with the seeking of good solutions to the find path problem (Find Path) in robotics. First, the use of artificial intelligence searching techniques is limited to the A* algorithm. Secondly, simple and poor heuristics are employed in this best-first search. To speed up the search, two approaches are taken in this paper: i) using two A*-based focusing search algorithms, A+ and A&dgr;, for FindPath; ii) constructing a problem-tailored strong heuristic, h2, under the configuration space representation chosen (2-D with rotation). These approaches are compared with the use of A* and a standard heuristic. Experimental evidence indicates that each of the new approaches improves speed considerably and solution quality in each case is very close to the optimal. When combined, the new approaches speed up the search by more than 40%. We conclude that A&dgr; is, among the three search algorithms studied, the fastest and most suitable one for high branching-factor problems such as FindPath, especially when a strong heuristic (such as h2) is employed.