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D* Lite - idm-lab.org

, weapplyLifelongPlanningA*to robotnavigationinunknownterrain, *Litealgorithmis im-plementsthesamebehaviorasStentz FocussedDynamicA* prove propertiesaboutD* believe thattheseresultsprovidea ,suchasDynamicSWSF-FP(Ramalingam&Reps199 6), is givenin(Frigioni,Marchetti-Spaccamela,&N anni2000).Heuristicsearchmethods,suchasA *(Nilsson1971),ontheotherhand,useheurist icknowledgeinformofapproximationsofthego aldistancestofocusthesearchandsolve givenin(Pearl1985).We recentlyintroducedLPA*(LifelongPlan-ning A*),thatgeneralizesbothDynamicSWSF-FPand A*andthususestwo differenttechniquestoreduceitsplanningti me(Koenig&Likhachev 2001).Inthispaper, weapplyLPA* , theresultingplanningtimescanbeontheorder ofminutesforthelargeterrainsthatareoften used,whichaddsuptosubstantialidletimes(S tentz1994).

model edges or vertices that are added or deleted). notes de-thefinite set of verticesgraph. denotes the set ofsuccessors vertex . Similarly, denotes theset ofpredecessors vertex . ! " #$ %'& denotes the cost of moving from vertex #( )*+, to . LPA* always determines ashortest path fromgi ven start ertex-/.10324. 5 to gi ven goal ertex

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