160,095 research outputs found
Multiple-Goal Heuristic Search
This paper presents a new framework for anytime heuristic search where the
task is to achieve as many goals as possible within the allocated resources. We
show the inadequacy of traditional distance-estimation heuristics for tasks of
this type and present alternative heuristics that are more appropriate for
multiple-goal search. In particular, we introduce the marginal-utility
heuristic, which estimates the cost and the benefit of exploring a subtree
below a search node. We developed two methods for online learning of the
marginal-utility heuristic. One is based on local similarity of the partial
marginal utility of sibling nodes, and the other generalizes marginal-utility
over the state feature space. We apply our adaptive and non-adaptive
multiple-goal search algorithms to several problems, including focused
crawling, and show their superiority over existing methods
Tight Analysis of a Multiple-Swap Heuristic for Budgeted Red-Blue Median
Budgeted Red-Blue Median is a generalization of classic -Median in that
there are two sets of facilities, say and , that can
be used to serve clients located in some metric space. The goal is to open
facilities in and facilities in for
some given bounds and connect each client to their nearest open
facility in a way that minimizes the total connection cost.
We extend work by Hajiaghayi, Khandekar, and Kortsarz [2012] and show that a
multiple-swap local search heuristic can be used to obtain a
-approximation for Budgeted Red-Blue Median for any constant
. This is an improvement over their single swap analysis and
beats the previous best approximation guarantee of 8 by Swamy [2014].
We also present a matching lower bound showing that for every ,
there are instances of Budgeted Red-Blue Median with local optimum solutions
for the -swap heuristic whose cost is
times the optimum solution cost. Thus, our analysis is tight up to the lower
order terms. In particular, for any we show the single-swap
heuristic admits local optima whose cost can be as bad as times
the optimum solution cost
Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering
We introduce multi-goal multi agent path finding (MAPF) which
generalizes the standard discrete multi-agent path finding (MAPF) problem.
While the task in MAPF is to navigate agents in an undirected graph from their
starting vertices to one individual goal vertex per agent, MAPF assigns
each agent multiple goal vertices and the task is to visit each of them at
least once. Solving MAPF not only requires finding collision free paths
for individual agents but also determining the order of visiting agent's goal
vertices so that common objectives like the sum-of-costs are optimized. We
suggest two novel algorithms using different paradigms to address MAPF:
a heuristic search-based search algorithm called Hamiltonian-CBS (HCBS) and a
compilation-based algorithm built using the SMT paradigm, called
SMT-Hamiltonian-CBS (SMT-HCBS). Experimental comparison suggests limitations of
compilation-based approach
A FAST ALGORITHM FOR COMPUTING HIGHLY SENSITIVE MULTIPLE SPACED SEEDS
The main goal of homology search is to find similar segments, or local alignments, be tween two DNA or protein sequences. Since the dynamic programming algorithm of Smith- Waterman is too slow, heuristic methods have been designed to achieve both efficiency and accuracy. Seed-based methods were made well known by their use in BLAST, the most widely used software program in biological applications. The seed of BLAST trades sensitivity for speed and spaced seeds were introduced in PatternHunter to achieve both. Several seeds are better than one and near perfect sensitivity can be obtained while maintaining the speed. There fore, multiple spaced seeds quickly became the state-of-the-art in similarity search, being em ployed by many software programs. However, the quality of these seeds is crucial and comput ing optimal multiple spaced seeds is NP-hard. All but one of the existing heuristic algorithms for computing good seeds are exponential. Our work has two main goals. First we engineer the only existing polynomial-time heuristic algorithm to compute better seeds than any other program, while running orders of magnitude faster. Second, we estimate its performance by comparing its seeds with the optimal seeds in a few practical cases. In order to make the computation feasible, a very fast implementation of the sensitivity function is provided
Planning Graph Heuristics for Belief Space Search
Some recent works in conditional planning have proposed reachability
heuristics to improve planner scalability, but many lack a formal description
of the properties of their distance estimates. To place previous work in
context and extend work on heuristics for conditional planning, we provide a
formal basis for distance estimates between belief states. We give a definition
for the distance between belief states that relies on aggregating underlying
state distance measures. We give several techniques to aggregate state
distances and their associated properties. Many existing heuristics exhibit a
subset of the properties, but in order to provide a standardized comparison we
present several generalizations of planning graph heuristics that are used in a
single planner. We compliment our belief state distance estimate framework by
also investigating efficient planning graph data structures that incorporate
BDDs to compute the most effective heuristics.
We developed two planners to serve as test-beds for our investigation. The
first, CAltAlt, is a conformant regression planner that uses A* search. The
second, POND, is a conditional progression planner that uses AO* search. We
show the relative effectiveness of our heuristic techniques within these
planners. We also compare the performance of these planners with several state
of the art approaches in conditional planning
Experimental Real-time Heuristic Search Results in a Video Game
In real-time domains such as video games, a planning algorithm has a strictly bounded time before it must return the next action for the agent to execute. We introduce a realistic video game benchmark domain that is useful for evaluating real-time heuristic search algorithms. Unlike previous benchmarks such as grid pathfinding and the sliding tile puzzle, this new domain includes dynamics and induces a directed graph. Using both the previous and new domains, we investigate several enhancements to a leading real-time search algorithm, LSS-LRTA*. We show experimentally that 1) it is not difficult to outperform A * when optimizing goal achievement time, 2) it is better to plan after each action than to commit to multiple actions or to use a dynamically sized lookahead, 3) A*-based lookahead can cause undesirable actions to be selected, and 4) on-line de-biasing of the heuristic can lead to improved performance. We hope that this new domain and results will stimulate further research on applying real-time search to dynamic real-time domains
Static and Dynamic Path Planning Using Incremental Heuristic Search
Path planning is an important component in any highly automated vehicle
system. In this report, the general problem of path planning is considered
first in partially known static environments where only static obstacles are
present but the layout of the environment is changing as the agent acquires new
information. Attention is then given to the problem of path planning in dynamic
environments where there are moving obstacles in addition to the static ones.
Specifically, a 2D car-like agent traversing in a 2D environment was
considered. It was found that the traditional configuration-time space approach
is unsuitable for producing trajectories consistent with the dynamic
constraints of a car. A novel scheme is then suggested where the state space is
4D consisting of position, speed and time but the search is done in the 3D
space composed by position and speed. Simulation tests shows that the new
scheme is capable of efficiently producing trajectories respecting the dynamic
constraint of a car-like agent with a bound on their optimality.Comment: Internship Repor
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