Accession Number:

ADA528745

Title:

Planning with Pinch Points

Descriptive Note:

Technical rept.

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Report Date:

2004-01-01

Pagination or Media Count:

22.0

Abstract:

We describe a heuristic search algorithm for generating optimal plans in a new class of decision problem, characterized by the incorporation of hidden state. The approach exploits the nature of the hidden state to reduce the state space by orders of magnitude. It then interleaves AO-type heuristic expansion of the reduced space with forwards and backwards propagation phases to produce a solution in a fraction of the time required by other techniques. Results are provided on an outdoor path planning application.

Subject Categories:

  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE