{"type":"ScholarlyArticle","title":"Incremental Phi*: Incremental Any-Angle Path Planning on Grids","authors":[{"name":"Alex Nash","slug":"alex-nash","given":"Alex","family":"Nash","affiliation":""},{"name":"Sven Koenig","slug":"sven-koenig","given":"Sven","family":"Koenig","affiliation":""},{"name":"Maxim Likhachev","slug":"maxim-likhachev","given":"Maxim","family":"Likhachev","affiliation":""}],"abstract":"We study path planning on grids with blocked and unblocked cells. Any-angle path-planning algorithms find short paths fast because they propagate information along grid edges without constraining the resulting paths to grid edges. Incremental path-planning algorithms solve a series of similar path-planning problems faster than repeated single-shot searches because they reuse information from the previous search to speed up the next one. In this paper, we combine these ideas by making the any-angle path-planning algorithm Basic Theta* incremental. This is non-trivial because Basic Theta* does not fit the standard assumption that the parent of a vertex in the search tree must also be its neighbor. We present Incremental Phi* and show experimentally that it can speed up Basic Theta* by about one order of magnitude for path planning with the freespace assumption.Alex Nash, Sven Koenig, Maxim Likhachev","doi":null,"url":"https://ijcai.org/proceedings/2009/303","pdf":"https://ijcai.org/proceedings/2009/0303.pdf","markdown":"https://ijcai.org/proceedings/2009/303.md","bibtex":"https://ijcai.org/proceedings/2009/bibtex/303","volume":{"slug":"2009","title":"Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2009","url":"https://ijcai.org/proceedings/2009/","year":2009,"location":"Pasadena, California, USA","dates":"","editors":"Hiroaki Kitano","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":null,"track":"","number":303,"pages":{"first":1824,"last":1829},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}