Anytime Dynamic A*

Elben Shira

@UT

@NI

AD*

Anytime D*

Anytime Dynamic A*

Anytime Dynamic A*Plan first, optimize second.

Anytime Dynamic A*Use previous knowledge.

Anytime Dynamic A*I have no idea.

Advantages

�fast (sometimes)lazy

proven

Disadvantages

heavyslow (sometimes)

sub-optimal (sometimes)complicated

Terminology

Example

1 2 2 11 1 2 12 2 1 22 2 1 1

1 2 2 11 1 2 12 2 1 22 2 1 1

0 2 4 51 2 4 53 4 5 75 6 6 7

1 2 2 11 1 2 12 2 1 22 2 1 1

0 2 4 51 2 4 53 4 5 75 6 6 7

1 2 2 11 1 1 12 2 1 22 2 1 1

0 2 4 51 2 4 53 4 5 75 6 6 7

1 2 2 11 1 1 12 2 1 22 2 1 1

0 2 4 51 2 4 53 4 5 75 6 6 7

1 2 2 11 1 1 12 2 1 22 2 1 1

0 2 4 51 2 3 43 4 4 65 6 5 6

1 2 2 11 1 1 12 2 1 22 2 1 1

0 2 4 51 2 3 43 4 4 65 6 5 6

1 2 2 11 1 1 12 4 1 22 2 1 1

0 2 4 51 2 3 43 4 4 65 6 5 6

1 2 2 11 1 1 12 4 1 22 2 1 1

0 2 4 51 2 3 43 6 4 65 7 5 6

1 2 2 11 1 1 12 4 1 22 2 1 1

0 2 4 51 2 3 43 6 4 65 7 5 6

Some other things.

backwardsback pointersoverhauling

Demo

What's Left

more testsoptimize

Wisdom Captured

Build relationships.

Software Development

Know the TheoryWrite the Tests

Code

I'm in the right field.

Sneak Peek

Questions?