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Hierarchical path planning for multi-size agents in heterogenous environments

Harabor, Daniel; Botea, Adi


Path planning is a central topic in games and other research areas, such as robotics. Despite this, very little research addresses problems involving agents with multiple sizes and terrain traversal capabilities. In this paper we present a new planner, Hierarchical Annotated A* (HAA*), and demonstrate how a single abstract graph can be used to plan for agents with heterogeneous sizes and terrain traversal capabilities. Through theoretical analysis and experimental evaluation we show that HAA*...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of IEEE Symposium on Computational Intelligence and Games (CIG-08)
DOI: 10.1109/CIG.2008.5035648


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