Anytime Dynamic A*

1. Elben Shira

2. @UT

4. @NI

6. AD*

7. Anytime D*

8. Anytime Dynamic A*

9. Anytime Dynamic A* Plan first, optimize second.

10. Anytime Dynamic A* Use previous knowledge.

11. Anytime Dynamic A* I have no idea.

12. Advantages fast (sometimes) lazy proven

14. Disadvantages heavy slow (sometimes) sub-optimal (sometimes) complicated

15. Terminology

17. Example

19. 1 2 2 1 1 1 2 1 2 2 1 2 2 2 1 1

20. 1 2 2 1 0 2 4 5 1 1 2 1 1 2 4 5 2 2 1 2 3 4 5 7 2 2 1 1 5 6 6 7

21. 1 2 2 1 0 2 4 5 1 1 2 1 1 2 4 5 2 2 1 2 3 4 5 7 2 2 1 1 5 6 6 7

22. 1 2 2 1 0 2 4 5 1 1 1 1 1 2 4 5 2 2 1 2 3 4 5 7 2 2 1 1 5 6 6 7

23. 1 2 2 1 0 2 4 5 1 1 1 1 1 2 4 5 2 2 1 2 3 4 5 7 2 2 1 1 5 6 6 7

24. 1 2 2 1 0 2 4 5 1 1 1 1 1 2 3 4 2 2 1 2 3 4 4 6 2 2 1 1 5 6 5 6

25. 1 2 2 1 0 2 4 5 1 1 1 1 1 2 3 4 2 2 1 2 3 4 4 6 2 2 1 1 5 6 5 6

26. 1 2 2 1 0 2 4 5 1 1 1 1 1 2 3 4 2 4 1 2 3 4 4 6 2 2 1 1 5 6 5 6

27. 1 2 2 1 0 2 4 5 1 1 1 1 1 2 3 4 2 4 1 2 3 6 4 6 2 2 1 1 5 7 5 6

28. 1 2 2 1 0 2 4 5 1 1 1 1 1 2 3 4 2 4 1 2 3 6 4 6 2 2 1 1 5 7 5 6

29. Some other things.

30. backwards back pointers overhauling

31. Demo

32. What's Left

33. more tests optimize

34. Wisdom Captured

35. Build relationships.

36. Software Development Know the Theory Write the Tests Code

37. I'm in the right field.

38. Sneak Peek

40. Questions?

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