3 papers
cs.RO2021
Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation
Jaein Lim, Siddhartha Srinivasa, Panagiotis Tsiotras
We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Sea…
cs.RO2020
A Generalized A* Algorithm for Finding Globally Optimal Paths in Weighted Colored Graphs
Jaein Lim, Panagiotis Tsiotras
Both geometric and semantic information of the search space is imperative for a good plan. We encode those properties in a weighted colored graph (geometric information in terms of…
cs.MA2019
MAMS-A*: Multi-Agent Multi-Scale A*
Jaein Lim, Panagiotis Tsiotras
We present a multi-scale forward search algorithm for distributed agents to solve single-query shortest path planning problems. Each agent first builds a representation of its own…