Incremental heuristic search methods use heuristics to focus
their search and reuse information from previous searches to
find solutions to series of similar search tasks much faster
than is possible by solving each search task from scratch. In
this paper, we apply Lifelong Planning A* to robot navigation
in unknown terrain, including goal-directed navigation in unknown
terrain and mapping of unknown terrain. The resulting
D* Lite algorithm is easy to understand and analyze. It implements
the same behavior as Stentz’ Focussed Dynamic A*
but is algorithmically different. We prove properties about
D* Lite and demonstrate experimentally the advantages of
combining incremental and heuristic search for the applications
studied. We believe that these results provide a strong
foundation for further research on fast replanning methods in
artificial intelligence and robotics.
This paper addresses how recently published revisions of aircraft certification documents affect developers using Model-Based
Design. It focuses on SAE ARP4754A and RTCA DO-178C, in particular RTCA DO-331.
A Pre-mortem is a way of exploring the potential risks and downsides of a project, a technology, a product, or almost any decision, by envisioning it has failed and working back from the failure to explore what might have led to it.