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

Lifelong Multi-Agent Path Finding in Large-Scale Warehouses

Multi-Agent Path Finding (MAPF) is the problem of moving a team of agents to their goal locations without collisions. In this paper, we study the lifelong variant of MAPF, where agents are constantly engaged with new goal locations, such as in large-scale automated warehouses. We propose a new framework Rolling-Horizon Collision Resolution (RHCR) for solving lifelong MAPF by decomposing the problem into a sequence of Windowed MAPF instances, where a Windowed MAPF solver resolves collisions among the paths of the agents only within a bounded time horizon and ignores collisions beyond it. RHCR is particularly well suited to generating pliable plans that adapt to continually arriving new goal locations. We empirically evaluate RHCR with a variety of MAPF solvers and show that it can produce high-quality solutions for up to 1,000 agents (= 38.9\% of the empty cells on the map) for simulated warehouse instances, significantly outperforming existing work.Comment: Published at AAAI 202

Vascular endothelial growth factor A (VEGF-A) mRNA expression levels decrease after menopause in normal breast tissue but not in breast cancer lesions

We hypothesized that the regulation of microvascular functions and angiogenesis in breast tissue, a well known target of ovarian steroid action, is dependent on the hormonal exposure of the breast. Relative expression levels of VEGF-A (vascular endothelial growth factor A), a putative key regulator of angiogenesis in breast cancer, were analysed in the tumour and the adjacent non-neoplastic breast tissue of 19 breast cancer patients by quantitative reverse transcriptase polymerase chain reaction. In non-neoplastic breast specimens the expression levels of all detected VEGF-A-isoforms (189, 165, 121) were significantly higher in premenopausal compared to post-menopausal women (P = 0.02) and were inversely correlated with the patient's age (P = 0.006). In contrast, in cancerous tissues menopausal status had no influence on VEGF-A-expression levels. Benign and malignant tissues exhibited a similar expression pattern of VEGF-A-isoforms relative to each other. Thus, the regulation of the vasculature in normal breast tissue, as opposed to breast cancer tissue, appears to be hormonally dependent. Endogenous and therapeutically used hormonal steroids might, therefore, cause clinically relevant changes of the angiogenic phenotype of the human breast. © 1999 Cancer Research Campaig