Symmetry-Based Search Space Reduction For Grid Maps

Details Symmetry-Based Search Space Reduction For Grid Maps Symmetry-Based Search Space Reduction For Grid Maps

2011-06-21

arxiv.org/abs/1106.4083v1

Computer Science

Artificial Intelligence

Scientific paper

In this paper we explore a symmetry-based search space reduction technique which can speed up optimal pathfinding on undirected uniform-cost grid maps by up to 38 times. Our technique decomposes grid maps into a set of empty rectangles, removing from each rectangle all interior nodes and possibly some from along the perimeter. We then add a series of macro-edges between selected pairs of remaining perimeter nodes to facilitate provably optimal traversal through each rectangle. We also develop a novel online pruning technique to further speed up search. Our algorithm is fast, memory efficient and retains the same optimality and completeness guarantees as searching on an unmodified grid map.

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