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Multi-Scale LPA* with low worst-case complexity guarantees | IEEE Conference Publication | IEEE Xplore

Multi-Scale LPA* with low worst-case complexity guarantees


Abstract:

In this paper we consider dynamic shortest path-planning problems on a graph with a single endpoint pair and with potentially changing edge weights over time. Several inc...Show More

Abstract:

In this paper we consider dynamic shortest path-planning problems on a graph with a single endpoint pair and with potentially changing edge weights over time. Several incremental algorithms exist in the literature that solve this problem, notably among them the Lifelong Planning A* (LPA*) algorithm. Although, in most cases, the LPA* algorithm requires a relatively small number of updates, in some other cases the amount of work required by the LPA* to find the optimal path can be overwhelming. To address this issue, in this paper we propose an extension of the baseline LPA* algorithm, by making efficient use of a multiscale representation of the environment.
Date of Conference: 25-30 September 2011
Date Added to IEEE Xplore: 05 December 2011
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Conference Location: San Francisco, CA, USA

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