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Communication Dans Un Congrès Année : 2012

A#: A distributed version of A* for factored planning

Résumé

Factored planning consists in driving a modular or distributed system to a target state, in an optimal manner, assuming all actions are controllable. Such problems take the form of path search in a product of graphs. The state space of each component is a graph, in which one must find a path to the local goal of this component. But when all components are considered jointly, the problem amounts to finding a path in each of these state graphs, while ensuring their compatibility on the actions that must be performed jointly by some components of the system. This paper proposes a solution under the form of a multi-agent version of A*, assembling several A*, each one performing a biased depth-first search in the graph of each component.
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Dates et versions

hal-01699341 , version 1 (02-02-2018)

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Loïg Jezequel, Eric Fabre. A#: A distributed version of A* for factored planning. CDC 2012 - IEEE 51st Annual Conference on Decision and Control, Dec 2012, Maui, United States. ⟨10.1109/CDC.2012.6426187⟩. ⟨hal-01699341⟩
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