DYNORA: a real-time planning algorithm to meet response-time constraints in dynamic environments
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 228-235
- https://doi.org/10.1109/tai.1991.167099
Abstract
Most real-time planning algorithms address either the issue of response-time constraints or the issue of dynamic environments. A new real-time planning algorithm, DYNORA, is proposed to address both of these issues simultaneously. DYNORA is structured as a sequence of partial planning and execution cycles to avoid obsolescence of planning solutions at the time of execution. DYNORA uses a stopping criterion to balance planning cost and execution cost to achieve near optimal response times. DYNORA was used for the routing problem to optimize total cost. It shows better average-case time complexity than traditional real-time algorithms.<>Keywords
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