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2014•Annual Symposium on Combinatorial SearchRequires access

Multi-Heuristic A*

Sandip Aine, Siddharth Swaminathan, Venkatraman Narayanan, Victor Hwang, Maxim Likhachev

Open publisher page 13 citations

Abstract

We present a novel heuristic search framework, called Multi-Heuristic A* (MHA*), that simultaneously uses multiple, arbitrarily inadmissible heuristic functions and one consistent heuristic to search for complete and bounded suboptimal solutions. This simplifies the de- sign of heuristics and enables the search to effectively combine the guiding powers of different heuristic func- tions. We support these claims with experimental results on full-body manipulation for PR2 robots.

About this research paper

What this paper is about

We present a novel heuristic search framework, called Multi-Heuristic A* (MHA*), that simultaneously uses multiple, arbitrarily inadmissible heuristic functions and one consistent heuristic to search for complete and bounded suboptimal solutions. This simplifies the de- sign of heuristics and enables the search to effectively combine the guiding powers of different heuristic func- tions. We support these claims with experimental results on full-body manipulation for PR2 robots.

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OpenAlex reports 13 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Method / approach

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Available abstract

We present a novel heuristic search framework, called Multi-Heuristic A* (MHA*), that simultaneously uses multiple, arbitrarily inadmissible heuristic functions and one consistent heuristic to search for complete and bounded suboptimal solutions. This simplifies the de- sign of heuristics and enables the search to effectively combine the guiding powers of different heuristic func- tions. We support these claims with experimental results on full-body manipulation for PR2 robots.

Key concepts: Heuristics, Heuristic, Consistent heuristic, Incremental heuristic search, Computer science, Null-move heuristic, Mathematical optimization, Sign (mathematics)

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