Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation
Jaein Lim,Siddhartha Srinivasa,Panagiotis Tsiotras,Jaein Lim,Siddhartha Srinivasa,Panagiotis Tsiotras
We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Search (GLS) for efficient replanning on dynamic graphs where edge evaluation is expensive. We use a lazily evaluated LPA* to repair the cost-to-come inconsistencies of the relevant region of the current search tree based o...
