Abstract

Incremental heuristic search algorithms reuse their previous search efforts whenever these are available. As a result, they can often solve a sequence of similar planning problems faster than planning from scratch. State-of-the-art incremental heuristic searches (such as LPA*, D* and D* Lite) work by propagating cost changes to all the states in the search tree whose g values (the costs of computed paths from the start state) are no longer optimal. This work is based on the observation that while a complete propagation of cost changes is essential to ensure optimality, the propagations can be stopped earlier if we are looking close-to-optimal solutions instead of the optimal one. We develop a framework called Truncated Incremental Search that builds on this observation and uses a target suboptimality bound to efficiently restrict cost propagations. We present two truncation based algorithms, Truncated LPA* (TLPA*) and Truncated D* Lite (TD* Lite), for bounded suboptimal planning and navigation in dynamic graphs. We also develop an anytime replanning algorithm, Anytime Truncated D* (ATD*), that combines the inflated heuristic search with truncation, in an anytime manner. We discuss the theoretical properties of these algorithms proving their correctness and efficiency, and present experimental results on 2D and 3D (x, y, heading) path planning domains evaluating their performance. The empirical results show that the truncated incremental searches can provide significant improvement in runtime over existing incremental search algorithms, especially when searching for close-to-optimal solutions in large, dynamic graphs.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.