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

DOI:

https://doi.org/10.1609/socs.v5i1.18306

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.

SoCS 2014 Proceedings Cover

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Published

2021-09-01

How to Cite

Aine, S., Swaminathan, S., Narayanan, V., Hwang, V., & Likhachev, M. (2021). Multi-Heuristic A*. Proceedings of the International Symposium on Combinatorial Search, 5(1), 207–208. https://doi.org/10.1609/socs.v5i1.18306

Issue

Vol. 5 No. 1 (2014): Seventh Annual Symposium on Combinatorial Search

Section

Extended Abstracts