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Carnegie Mellon Robotics Institute

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Abstract

This paper presents a thorough theoretical analysis of a recently developed anytime incremental planning algorithm called Anytime Dynamic A* (AD*). The analysis includes proofs for the correctness of the algorithm and as well as the proofs for several properties of the algorithm related to its efficiency.

Keywords

search, planning, anytime planning, incremental planning, re-planning, anytime incremental planning

Notes

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

Number of pages: 20

Text Reference

Maxim Likhachev, David Ferguson, Geoffrey Gordon, Anthony (Tony) Stentz, and Sebastian Thrun, "Anytime Dynamic A*: The Proofs," tech. report CMU-RI-TR-05-12, Robotics Institute, Carnegie Mellon University, May, 2005

BibTeX Reference

@techreport{Likhachev_2005_5032,
   author = "Maxim Likhachev and David Ferguson and Geoffrey Gordon and Anthony (Tony) Stentz and Sebastian Thrun",
   title = "Anytime Dynamic A*: The Proofs",
   booktitle = "",
   institution = "Robotics Institute",
   month = "May",
   year = "2005",
   number= "CMU-RI-TR-05-12",
   address= "Pittsburgh, PA",
}

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