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Anytime Dynamic A*: The Proofs
M. Likhachev, D. Ferguson, G. Gordon, A. Stentz, and S. Thrun
tech. report CMU-RI-TR-05-12, Robotics Institute, Carnegie Mellon University, May, 2005.

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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.

Associated lab/group: Robot Learning Lab

Number of pages: 20

M. Likhachev, D. Ferguson, G. Gordon, A. Stentz, and S. Thrun, Anytime Dynamic A*: The Proofs, tech. report CMU-RI-TR-05-12, Robotics Institute, Carnegie Mellon University, May, 2005.

@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",
   institution = "Robotics Institute, Carnegie Mellon University",
   month = "May",
   year = "2005",
   number = "CMU-RI-TR-05-12",
   address = "Pittsburgh, PA"
}