AAAI Publications, Fourth Annual Symposium on Combinatorial Search

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Adapting a Rapidly-Exploring Random Tree for Automated Planning
Vidal Alcázar, Manuela Veloso, Daniel Borrajo

Last modified: 2011-07-05


Rapidly-exploring random trees (RRTs) are data structures and search algorithms designed to be used in continuous path planning problems. They are one of the most successful state-of-the-art techniques as they offer a great degree of flexibility and reliability. However, their use in other search domains has not been thoroughly analyzed. In this work we propose the use of RRTs as a search algorithm for automated planning. We analyze the advantages that this approach has over previously used search algorithms and the challenges of adapting RRTs for implicit and discrete search spaces.


Automated Planning; Search; RRT

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