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Path-Adaptive A* for Incremental Heuristic Search in Unknown Terrain

Path-Adaptive A* for Incremental Heuristic Search in Unknown Terrain,Carlos Hernández,Pedro Meseguer,Xiaoxun Sun,Sven Koenig

Path-Adaptive A* for Incremental Heuristic Search in Unknown Terrain  
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Adaptive A* is an incremental version of A* that up- dates the h-values of the previous A* search to make them more informed and thus future A* searches more focused. In this paper, we show how the A* searches performed by Adaptive A* can reuse part of the path of the previous search and terminate before they ex- pand a goal state, resulting in Path-Adaptive A*. We demonstrate experimentally that Path-Adaptive A* ex- pands fewer states per search and runs faster than Adap- tive A* when solving path-planning problems in ini- tially unknown terrain.
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