AAAI Publications, Sixth Annual Symposium on Combinatorial Search

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Anytime Truncated D* : Anytime Replanning with Truncation
Sandip Aine, Maxim Likhachev

Last modified: 2013-06-19


Incremental heuristic searches reuse their previous search efforts to speed up the current search. Anytime search algorithms iteratively tune the solutions based on available search time. Anytime D* (AD*) is an incremental anytime search algorithm that combines these two approaches. AD* uses an inflated heuristic to produce bounded suboptimal solutions and improves the solution by iteratively decreasing the inflation factor. If the environment changes, AD* recomputes a new solution by propagating the new costs. Recently, a different approach to speed up replanning (TLPA*/TD* Lite) was proposed that relies on selective truncation of cost propagations instead of heuristic inflation. In this work, we present an algorithm called Anytime Truncated D* (ATD*) that combines heuristic inflation with truncation in an anytime fashion. We develop truncation rules that can work with an inflated heuristic without violating the completeness/suboptimality guarantees, and show how these rules can be applied in conjunction with heuristic inflation to iteratively refine the replanning solutions with minimal reexpansions. We explain ATD*, discuss its analytical properties and present experimental results for 2D and 3D (x, y, heading) path planning demonstrating its efficacy for anytime replanning.


Heuristic Search, Incremental Search, Path Planning

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