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Thinking Ahead in Real-Time Search

by Dana Nau, Ugur Kuter, Emre Sefer , 2009
"... We consider real-time planning problems in which some states are unsolvable, i.e., have no path to a goal. Such problems are difficult for real-time planning algorithms such as RTA * in which all states must be solvable. We identify a property called k-safeness, in which the consequences of a bad ch ..."
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versions of the well-known Tireworld and Racetrack domains, and provide experimental results showing that our modified version of RTA * works quite well in these domains.

Real-Time A* Search With Depth-k Lookahead

by Emre Sefer, Ugur Kuter, Dana Nau , 2009
"... We consider real-time planning problems in which some states are unsolvable, i.e., have no path to a goal. Such problems are difficult for real-time planning algorithms such as RTA* in which all states must be solvable. We identify a property called k-safeness, in which the consequences of a bad cho ..."
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choice become apparent within k moves after the choice is made. When k is not too large, this makes it possible to identify unsolvable states in real time. We provide a modified version of RTA* that is provably complete on all k-safe problems, and we show that real-time deterministic versions of the well-known
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