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Real-Time A* Search With Depth-k Lookahead (2009)
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@MISC{Sefer09real-timea*,
author = {Emre Sefer and Ugur Kuter and Dana Nau},
title = {Real-Time A* Search With Depth-k Lookahead },
year = {2009}
}
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Abstract
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 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 Tireworld and Racetrack domains are k-safe.
