Multi-Heuristic A*

Authors

  • Sandip Aine IIIT Delhi
  • Siddharth Swaminathan Carnegie Mellon University
  • Venkatraman Narayanan Carnegie Mellon University
  • Victor Hwang Carnegie Mellon University
  • Maxim Likhachev Carnegie Mellon University

Keywords:

Planning, Heuristic Search, Robotics, Bounded Sub-optimal Search

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.

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Published

2021-09-01