The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

We present a graph-based planning and replanning algorithm able to produce bounded suboptimal solutions in an anytime fashion. Our algorithm tunes the quality of its solution based on available search time, at every step reusing previous search efforts. When updated information regarding the underlying graph is received, the algorithm incrementally repairs its previous solution. The result is an approach that combines the benefits of anytime and incremental planners to provide efficient solutions to complex, dynamic search problems. We present theoretical analysis of the algorithm, experimental results on a simulated robot kinematic arm, and two current applications in dynamic path planning for outdoor mobile robots.

Notes

Associated Lab(s) / Group(s): Robot Learning Lab

Number of pages: 10

Text Reference

Maxim Likhachev, David Ferguson, Geoffrey Gordon, Anthony (Tony) Stentz, and Sebastian Thrun, "Anytime Dynamic A*: An Anytime, Replanning Algorithm," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), June, 2005.

BibTeX Reference

@inproceedings{Ferguson_2005_4975,
   author = "Maxim Likhachev and David Ferguson and Geoffrey Gordon and Anthony (Tony) Stentz and Sebastian Thrun",
   title = "Anytime Dynamic A*: An Anytime, Replanning Algorithm",
   booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
   month = "June",
   year = "2005",
}

The Robotics Institute

Menu