Anytime Dynamic A*: An Anytime, Replanning Algorithm

Maxim Likhachev, David Ferguson , Geoffrey Gordon, Anthony (Tony) Stentz, and Sebastian Thrun
Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), July, 2005.


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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), July, 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 = "July",
   year = "2005",
}