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Multi-Heuristic A*

Authors

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

IIIT Delhi,Carnegie Mellon University,Carnegie Mellon University,Carnegie Mellon University,Carnegie Mellon University


Proceedings:

Proceedings of the International Symposium on Combinatorial Search, 7

Volume

Issue:

Vol. 7 No. 1 (2014): Seventh Annual Symposium on Combinatorial Search

Track:

Extended Abstracts

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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.

DOI:

10.1609/socs.v5i1.18306


SOCS

Vol. 7 No. 1 (2014): Seventh Annual Symposium on Combinatorial Search