TitlePropagating updates in real-time search:
Publication TypeConference Paper
Year of Publication2006
AuthorsHernández C, Meseguer P
Editor, Santos J
Conference NameLecture notes in computer science
Pagination379 - 388

We enhance real-time search algorithms with bounded propagation of heuristic changes. When the heuristic of the current state is updated, this change is propagated consistently up to k states. Applying this idea to HLRTA*, we have developed the new HLRTA*(k) algorithm, which shows a clear performance improvement over HLRTA*. Experimentally, HLRTA*(k) converges in less trials than LRTA*(k), while the contrary was true for these algorithms without propagation. We provide empirical results showing the benefits of our approach.