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Abstract:
Incremental search techniques find optimal solutions to series
of similar search tasks much faster than is possible by solving
each search task from scratch. While researchers have developed
incremental versions of uninformed search methods, we develop an
incremental version of A*. The first search of Lifelong Planning
A* is the same as that of A* but all subsequent searches are much
faster because it reuses those parts of the previous search tree
that are identical to the new search tree. We then present
experimental results that demonstrate the advantages of Lifelong
Planning A* for simple route planning tasks.
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