Replanning / dynamic graph within AD*?

[martypitt]

Replanning / dynamic graph within AD*?

[gonzalezsieira]

Hi @martypitt :

Current implementation of ADStarForward is supposed to be complete according to the algorithm description . Unfortunately there are no tests for replanning (yet) so I cannot guarantee it's 100% functional.

However, I tested the anytime search part, which relies on the same the code (Fig. 2 of the link, lines 17-23) and it's functional, so I would say it's worth giving it a try.

Regarding to your question, after you have an instance of ADStarForward.Iterator you can indicate the algorithm that some arc costs have changed and need to be re-evaluated with the method addTransitionsChanged(Collection<Transition<A, S>> transitions). There is no other way to do so at the moment.

Please, let us know if you detect some unexpected behaviour while replanning.

Best regards,