Resumen de Improving HLRTA*(k)

Carlos Hernández, Pedro Meseguer González

• Real-time search methods allow an agent to move in unknown environments. We provide two enhancements to the real-time search algorithm HLRTA*(k). First, we give a better way to perform bounded propagation, generating the HLRTA*LS(k) algorithm. Second, we consider the option of doing more than one action per planning step, by analyzing the quality of the heuristic found during lookahead, producing the HLRTA*(k,d) algorithm. We provide experimental evidence of the benefits of both algorithms, with respect to other real-time algorithms on existing benchmarks.