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- W3045945934 abstract "Incremental pathfinding algorithms can reuse previous search efforts to benefit the current search; therefore, they can work like online algorithms in dynamical environments while being sped up automatically in static environments without offline preprocessing. However, current incremental technologies must reuse the task-based information from the previous searches, so a series of tasks must be searches that are similar to each other. The rectangle expansion A <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>*</sup> (REA <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>*</sup> ) is a recently proposed online algorithm that explores maps in units of unblocked rectangles and can speed up A <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>*</sup> by an order of magnitude or more. In this article, a new map-based incremental search technique is proposed and applied to the basic REA <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>*</sup> and a new algorithm is introduced, called the static rectangle expansion A <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>*</sup> (SREA <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>*</sup> ). SREA <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>*</sup> learns the map online and records the visited terrains with nonoverlapping static rectangles during each task. The static rectangles are valid over the whole life of the map, so the current search will benefit from previous searches by querying the accumulated static rectangles and avoiding unnecessary reexploration. The experimental results on typical benchmark sets show that SREA <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>*</sup> can significantly speed up REA <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>*</sup> without any extra cost or risk while retaining the completeness and optimality. SREA <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>*</sup> performs very well on the grid-based path planning competition server; compared with current incremental technologies, SREA <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>*</sup> is not only much more efficient but is also not limited by “similar search” problems." @default.
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- W3045945934 date "2022-03-01" @default.
- W3045945934 modified "2023-09-30" @default.
- W3045945934 title "Static Rectangle Expansion A<sup>*</sup>Algorithm for Pathfinding" @default.
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- W3045945934 doi "https://doi.org/10.1109/tg.2020.3012602" @default.
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