Multipath Adaptive A∗: Factors That Influence Performance in Goal-Directed Navigation in Unknown Terrain

Vista sencilla de ítem
dc.contributor.authorHernandez Ulloa, C.
dc.contributor.authorBaier, J.
dc.contributor.authorAsin-Acha, R.
dc.date.accessioned2021-09-02T17:46:35Z
dc.date.available2021-09-02T17:46:35Z
dc.date.issued2020
dc.descriptionIndexación: Scopus.es
dc.description.abstractIncremental heuristic search algorithms are a class of heuristic search algorithms applicable to the problem of goal-directed navigation. D∗ and D∗Lite are among the most well-known algorithms for this problem. Recently, two new algorithms have been shown to outperform D∗Lite in relevant benchmarks: Multi-Path Adaptive A∗ (MPAA∗) and D∗ExtraLite. Existing empirical evaluations, unfortunately, do not allow to obtain meaningful conclusions regarding the strengths and weaknesses of these algorithms. Indeed, in the paper introducing D∗ExtraLite, it is shown that D∗Lite outperforms MPAA∗ in benchmarks in which the authors of MPAA∗ claim superiority over D∗Lite. The existence of published contradictory data unfortunately does not allow practitioners to make decisions over which algorithm to use given a specific application. In this paper, we analyze two factors that significantly influence the performance of MPAA∗, explaining why it is possible to obtain very different results depending on such factors. We identify a configuration of MPAA∗ which, in the majority of the benchmark problems we use, exhibits superior performance when compared to both D∗Lite and D∗ExtraLite. We conclude that MPAA∗ should be the algorithm of choice in goal-directed navigation scenarios in which the heuristic is accurate, whereas D∗ExtraLite should be preferred when the heuristic is inaccurate.es
dc.description.urihttps://ieeexplore.ieee.org/document/9120005
dc.identifier.citationIEEE Access, Volume 8, Pages 116724 - 116732, 2020, Article number 9120005es
dc.identifier.doiDOI: 10.1109/ACCESS.2020.3003344
dc.identifier.issn2169-3536
dc.identifier.urihttp://repositorio.unab.cl/xmlui/handle/ria/20097
dc.language.isoenes
dc.publisherInstitute of Electrical and Electronics Engineers Inc.es
dc.rights.licenseAttribution 4.0 International (CC BY 4.0)
dc.subjectDes
dc.subjectD ExtraLitees
dc.subjectDLitees
dc.subjectgoal-directed navigationes
dc.subjectincremental heuristic searches
dc.subjectMPAAes
dc.titleMultipath Adaptive A∗: Factors That Influence Performance in Goal-Directed Navigation in Unknown Terraines
dc.typeArtículoes
Archivos
Bloque original
Mostrando 1 - 1 de 1
Miniatura
Nombre:
Hernandez_Multipath Adaptive A_Factors That Influence Performance in Goal-Directed Navigation in Unknown Terrain.pdf
Tamaño:
1.13 MB
Formato:
Adobe Portable Document Format
Descripción:
TEXTO_COMPLETO_EN_INGLES
Descargar
Bloque de licencias
Mostrando 1 - 1 de 1
No hay miniatura disponible
Nombre:
license.txt
Tamaño:
1.71 KB
Formato:
Item-specific license agreed upon to submission
Descripción:
Descargar
Colecciones
FIng - Artículos de Revista