Presented By: Ahmed Shehab Khan

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Presentation transcript:

Presented By: Ahmed Shehab Khan Multi-Heuristic A* Sandip Aine, Siddharth Swaminathan, Venkatraman Narayanan, Victor Hwang and Maxim Likhachev. International Journal of Robotics Research, 35 (1-3), 224-243, 2016. Presented By: Ahmed Shehab Khan

Background For High-Dimensional planning problem, Heuristic search algorithms like (A*) suffers from the curse of dimensionality. This problem is usually addressed by trading off solution quality for faster computation time. Specifically, bounded sub-optimal versions of A* such as Weighted A* (WA*) (Pohl, 1970) and its anytime variants (Likhachev et al., 2004; Zhou and Hansen, 2002) have been used quite effectively for high-dimensional search problems. WA*’s performance is very sensitive to the accuracy of the heuristic function, and can degrade severely in the presence of heuristic depression regions.

A* and WA* Source: https://en.wikipedia.org/wiki/A*_search_algorithm

Contribution Proposed an algorithmic framework, called Multi-Heuristic A* (MHA*) MHA* works by running multiple searches with different inadmissible heuristics in a manner that preserves completeness and guarantees on the sub-optimality bounds. Two variants of MHA* proposed: Independent Multi-Heuristic A* (IMHA*) Shared Multi-Heuristic A* (SMHA*)

Methodology

Notations

Independent Multi-Heuristic A* (IMHA*)

Independent Multi-Heuristic A* (IMHA*)

Independent Multi-Heuristic A* (IMHA*)

Theorems proved on IMHA*

Theorems proved on IMHA*

Theorems proved on IMHA*

Shared Multi-Heuristic A* (SMHA*)

Shared Multi-Heuristic A* (SMHA*)

Shared Multi-Heuristic A* (SMHA*)

Theorems proved on SMHA*

Theorems proved on SMHA*

Theorems proved on SMHA*

Experimental Results

Domains of Experiments 12-dimensional mobile manipulation planning for the PR2 robot 3-dimensional (x, y, orientation) navigation for single and multiple goal domains sliding tile puzzles

Mobile manipulation planning for the PR2 (12-dimensional)

Mobile manipulation planning for the PR2 (12-dimensional)

Multiple Goal Path Planning

Multiple Goal Path Planning

Sliding tile puzzle

Sliding tile puzzle