{"type":"ScholarlyArticle","title":"Regarding Jump Point Search and Subgoal Graphs","authors":[{"name":"Daniel D. Harabor","slug":"daniel-d-harabor","given":"Daniel D.","family":"Harabor","affiliation":"Faculty of Information Technology , Monash University , Melbourne , Australia"},{"name":"Tansel Uras","slug":"tansel-uras","given":"Tansel","family":"Uras","affiliation":"Computer Science Department , University of Southern California , Los Angeles , USA"},{"name":"Peter J. Stuckey","slug":"peter-j-stuckey","given":"Peter J.","family":"Stuckey","affiliation":"Faculty of Information Technology , Monash University , Melbourne , Australia"},{"name":"Sven Koenig","slug":"sven-koenig","given":"Sven","family":"Koenig","affiliation":"Computer Science Department , University of Southern California , Los Angeles , USA"}],"abstract":"In this paper, we define Jump Point Graphs (JP), a preprocessing-based path-planning technique similar to Subgoal Graphs (SG).  JP allows for the first time the combination of Jump Point Search style pruning in the context of abstraction-based speedup techniques, such as Contraction Hierarchies.  We compare JP with SG and its variants and report new state-of-the-art results for grid-based pathfinding.","doi":"10.24963/ijcai.2019/173","url":"https://ijcai.org/proceedings/2019/173","pdf":"https://ijcai.org/proceedings/2019/0173.pdf","markdown":"https://ijcai.org/proceedings/2019/173.md","bibtex":"https://ijcai.org/proceedings/2019/bibtex/173","volume":{"slug":"2019","title":"Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2019","url":"https://ijcai.org/proceedings/2019/","year":2019,"location":"Macao","dates":"10-16 August 2019","editors":"Sarit Kraus","isbn":"978-0-9992411-4-1","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2019"},"section":"Heuristic Search and Game Playing","track":"Main track","number":173,"pages":{"first":1241,"last":1248},"keywords":["Heuristic Search and Game Playing: Heuristic Search","Robotics: Motion and Path Planning"],"videos":[],"references":[{"position":1,"raw":"[Geisberger et al., 2008] Robert Geisberger, Peter Sanders, Dominik Schultes, and Daniel Delling. Contraction hi- erarchies: Faster and simpler hierarchical routing in road networks. In WEA, pages 319-333. Springer, 2008.","title":"Contraction hierarchies: Faster and simpler hierarchical routing in road networks","authors":"Robert Geisberger, Peter Sanders, Dominik Schultes, Daniel Delling","year":"2008","venue":"WEA","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"[Harabor and Grastien, 2011] Daniel Damir Harabor and Al- ban Grastien. Online Graph Pruning for Pathfinding On Grid Maps. In AAAI, pages 1114-1119, 2011.","title":"Online Graph Pruning for Pathfinding On Grid Maps","authors":"Daniel Damir, Harabor, Alban Grastien","year":"2011","venue":"AAAI","doi":null,"url":null,"internal_url":null},{"position":3,"raw":"[Harabor and Grastien, 2012] Daniel Harabor and Alban Grastien. The JPS Pathfinding System. In SoCS, 2012.","title":"The JPS Pathfinding System","authors":"Daniel Harabor, Alban Grastien","year":"2012","venue":null,"doi":null,"url":null,"internal_url":null},{"position":4,"raw":"[Harabor and Grastien, 2014] Daniel Harabor and Alban Grastien. Improving Jump Point Search. In ICAPS, pages 128-135, 2014.","title":"Daniel Harabor and Alban Grastien. Improving Jump Point Search","authors":"Grastien Harabor","year":"2014","venue":"ICAPS","doi":null,"url":null,"internal_url":null},{"position":5,"raw":"[Rabin and Sturtevant, 2016] Steve Rabin and Nathan Sturtevant. Combining Bounding Boxes and JPS to Prune Grid Pathfinding. In AAAI, pages 746-752, 2016.","title":"Combining Bounding Boxes and JPS to Prune Grid Pathfinding","authors":"Sturtevant Rabin, Steve Rabin, Nathan Sturtevant","year":"2016","venue":"AAAI","doi":null,"url":null,"internal_url":null},{"position":6,"raw":"[Sturtevant et al., 2015] Nathan R Sturtevant, Jason Traish, James Tulip, Tansel Uras, Sven Koenig, Ben Strasser, Adi Botea, Daniel Harabor, and Steve Rabin. The Grid-Based Path Planning Competition: 2014 Entries and Results. In SoCS, pages 241-251, 2015.","title":"The Grid-Based Path Planning Competition: 2014 Entries and Results","authors":"Jason Nathan R Sturtevant, James Traish, Tansel Tulip, Sven Uras, Ben Koenig, Adi Strasser, Daniel Botea, Steve Harabor, Rabin","year":"2015","venue":"SoCS","doi":null,"url":null,"internal_url":null},{"position":7,"raw":"[Sturtevant, 2012] Nathan Sturtevant. Benchmarks for Grid- Based Pathfinding. Transactions on Computational Intel- ligence and AI in Games, 4(2):144 -148, 2012.","title":"Benchmarks for Grid-Based Pathfinding","authors":"Nathan Sturtevant","year":"2012","venue":"Transactions on Computational Intelligence and AI in Games","doi":null,"url":null,"internal_url":null},{"position":8,"raw":"[Uras and Koenig, 2017] Tansel Uras and Sven Koenig. Fea- sibility Study: Subgoal Graphs on State Lattices. In SoCS, pages 100-108, 2017.","title":"Feasibility Study: Subgoal Graphs on State Lattices","authors":"Koenig Uras, Tansel Uras, Sven Koenig","year":"2017","venue":"SoCS","doi":null,"url":null,"internal_url":null},{"position":9,"raw":"[Uras and Koenig, 2018] Tansel Uras and Sven Koenig. Un- derstanding Subgoal Graphs by Augmenting Contraction Hierarchies. In IJCAI, pages 1506-1513, 2018.","title":"Understanding Subgoal Graphs by Augmenting Contraction Hierarchies","authors":"Koenig Uras, Tansel Uras, Sven Koenig","year":"2018","venue":"IJCAI","doi":null,"url":null,"internal_url":"/proceedings/2018/209"},{"position":10,"raw":"[Uras et al., 2013] Tansel Uras, Sven Koenig, and Carlos Hernández. Subgoal Graphs for Optimal Pathfinding in Eight-Neighbor Grids. In ICAPS, pages 224-232, 2013.","title":"Subgoal Graphs for Optimal Pathfinding in Eight-Neighbor Grids","authors":"Tansel Uras, Sven Koenig, Carlos Hernández","year":"2013","venue":"ICAPS","doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}