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题名:
a generalized framework for bdd-based replanning a* search
作者: Xu Yanyan ; Yue Weiya
会议文集: 10th ACIS Conference on Software Engineering, Artificial Intelligence, Networking and Parallel/Distributed Computing, SNPD 2009, In conjunction with IWEA 2009 and WEACR 2009
会议名称: 3rd International Workshop on e-Activity (IWEA2009)/10th ACIS International Conference on Software Engineering Artificial Intelligence, Networking and Parallel/Distributed Computing
会议日期: MAY 27-29,
出版日期: 2009
会议地点: Daegu, SOUTH KOREA
关键词: A* ; BDD-based search ; incremental search ; heuristic search-based planning ; replanning
出版者: SNPD 2009: 10TH ACIS INTERNATIONAL CONFERENCE ON SOFTWARE ENGINEERING, ARTIFICIAL INTELLIGENCES, NETWORKING AND PARALLEL DISTRIBUTED COMPUTING, PROCEEDINGS
出版地: 10662 LOS VAQUEROS CIRCLE, PO BOX 3014, LOS ALAMITOS, CA 90720-1264 USA
ISBN: 978-0-7695-3642-2
部门归属: Xu, Yanyan Chinese Acad Sci, Inst Software, State Key Lab Comp Sci, Beijing, Peoples R China.
主办者: IEEE Comp Soc, ACIS
英文摘要: Recently, it has been suggested that BDD-based Re-Planning A* (BDDRPA*), a BDD-based incremental version of A*, might be an efficient search method for solving path-planning problems in artificial intelligence. BDDRPA* combines ideas of BDD-based search and incremental search to repeatedly find shortest paths from a start vertex to a goal vertex while the topology of the graph changes. However BDDRPA* only works well when vertices art, added or deleted but doest consider the weighted edges. When the edge costs are changed, it doesnt work, and moreover, in BDDRPA*, the heuristic function h is set to 0, so BDDRPA* is degenerated to BDD-based incremental breadth-first search. In this article, we consider BDD-based weighted and heuristic search methods and generalize BDDRPA* to be a real BDD-based incremental heuristic search algorithm (GBDDRPA*). We then show experimentally that GBDDRPA* indeed speeds BDDRPA* up on gridworlds and thus promises to provide a good foundation for building incremental heuristic BDD-search-based replanners.
内容类型: 会议论文
URI标识: http://ir.iscas.ac.cn/handle/311060/8252
Appears in Collections:计算机科学国家重点实验室 _会议论文

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Xu Yanyan,Yue Weiya. a generalized framework for bdd-based replanning a* search[C]. 见:3rd International Workshop on e-Activity (IWEA2009)/10th ACIS International Conference on Software Engineering Artificial Intelligence, Networking and Parallel/Distributed Computing. Daegu, SOUTH KOREA. MAY 27-29,.
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