Anytime Dynamic A*
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Elben Shira
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My a talk at the end of my internship at National Instruments. Describes the search algorithm Anytime Dynamic A* and my work involving it.
Transcript of Anytime Dynamic A*
Elben Shira
@UT
@NI
AD*
Anytime D*
Anytime Dynamic A*
Anytime Dynamic A*Plan first, optimize second.
Anytime Dynamic A*Use previous knowledge.
Anytime Dynamic A*I have no idea.
Advantages
�fast (sometimes)lazy
proven
Disadvantages
heavyslow (sometimes)
sub-optimal (sometimes)complicated
Terminology
Example
1 2 2 11 1 2 12 2 1 22 2 1 1
1 2 2 11 1 2 12 2 1 22 2 1 1
0 2 4 51 2 4 53 4 5 75 6 6 7
1 2 2 11 1 2 12 2 1 22 2 1 1
0 2 4 51 2 4 53 4 5 75 6 6 7
1 2 2 11 1 1 12 2 1 22 2 1 1
0 2 4 51 2 4 53 4 5 75 6 6 7
1 2 2 11 1 1 12 2 1 22 2 1 1
0 2 4 51 2 4 53 4 5 75 6 6 7
1 2 2 11 1 1 12 2 1 22 2 1 1
0 2 4 51 2 3 43 4 4 65 6 5 6
1 2 2 11 1 1 12 2 1 22 2 1 1
0 2 4 51 2 3 43 4 4 65 6 5 6
1 2 2 11 1 1 12 4 1 22 2 1 1
0 2 4 51 2 3 43 4 4 65 6 5 6
1 2 2 11 1 1 12 4 1 22 2 1 1
0 2 4 51 2 3 43 6 4 65 7 5 6
1 2 2 11 1 1 12 4 1 22 2 1 1
0 2 4 51 2 3 43 6 4 65 7 5 6
Some other things.
backwardsback pointersoverhauling
Demo
What's Left
more testsoptimize
Wisdom Captured
Build relationships.
Software Development
Know the TheoryWrite the Tests
Code
I'm in the right field.
Sneak Peek
Questions?
![Anytime Path Planning and Replanning in Dynamic Environments...path [11] or a PRM [12] based on the static elements of the environment, and subsequently planning a collision-free trajectory](https://static.fdocuments.net/doc/165x107/5f58f51c49c53c29066cb7a8/anytime-path-planning-and-replanning-in-dynamic-environments-path-11-or-a.jpg)
