---
title: "Improving LRTA*(k)"
authors:
  - "Carlos Hernández"
  - "Pedro Meseguer"
doi: ""
url: "https://ijcai.org/proceedings/2007/372"
pdf: "https://ijcai.org/proceedings/2007/0372.pdf"
venue: "Proceedings of the Twentieth International Joint Conference on Artificial Intelligence"
year: 2007
pages: "2312-2316"
track: ""
keywords:
---

# Improving LRTA*(k)

Carlos Hernández, Pedro Meseguer

*Proceedings of the Twentieth International Joint Conference on Artificial Intelligence*, pages 2312-2316.

## Abstract

We identify some weak points of the LRTA*(k) algorithm in the propagation of heuristic changes. To solve them, we present a new algorithm, LRTA*LS(k), that is based on the selection and up-dating of the interior states of a local space around the current state. It keeps the good theoretical prop-erties of LRTA*(k), while improving substantially its performance. It is related with a lookahead depth greater than 1. We provide experimental evidence of the benefits of the new algorithm on real-time benchmarks with respect to existing approaches.