PHA*: Performing A* in unknown physical environments

Ariel Felner, Roni Stern, Sarit Kraus

Research output: Contribution to conferencePaperpeer-review

7 Scopus citations

Abstract

We address the problem of finding the shortest path between two points in an unknown real physical environment, where a traveling agent must move around in the environment to explore unknown territories. We present the Physical-A* algorithm (PHA*) to solve such a problem. PHA* is a two-level algorithm in which the upper level is A*, which chooses the next node to expand and the lower level directs the agent to that node in order to explore it. The complexity of this algorithm is measured by the traveling effort of the moving agent and not by the number of generated nodes as in classical A*. We present a number of variations of both the upper level and lower level algorithms and compare them both experimentally and theoretically. We then generalize our algorithm to the multi-agent case where a number of cooperative agents are designed to solve this problem and show experimental implementation for such a system.

Original languageEnglish
Pages240-247
Number of pages8
StatePublished - 1 Jan 2002
Externally publishedYes
EventProceedings of the 1st International Joint Conference on: Autonomous Agents adn Multiagent Systems - Bologna, Italy
Duration: 15 Jul 200219 Jul 2002

Conference

ConferenceProceedings of the 1st International Joint Conference on: Autonomous Agents adn Multiagent Systems
Country/TerritoryItaly
CityBologna
Period15/07/0219/07/02

Keywords

  • A*
  • Mobile agents
  • Search
  • Shortest path

ASJC Scopus subject areas

  • Engineering (all)

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