My a talk at the end of my internship at National Instruments. Describes the search algorithm Anytime Dynamic A* and my work involving it.

1. Elben Shira

2. @UT

4. @NI

6. AD*

7. Anytime D*

8. Anytime Dynamic A*

9. Anytime Dynamic A*
Plan first, optimize second.

10. Anytime Dynamic A*
Use previous knowledge.

11. Anytime Dynamic A*
I have no idea.

12. Advantages
fast (sometimes)
lazy
proven

14. Disadvantages
heavy
slow (sometimes)
sub-optimal (sometimes)
complicated

15. Terminology

17. Example

19. 1 2 2 1
1 1 2 1
2 2 1 2
2 2 1 1

20. 1 2 2 1 0 2 4 5
1 1 2 1 1 2 4 5
2 2 1 2 3 4 5 7
2 2 1 1 5 6 6 7

21. 1 2 2 1 0 2 4 5
1 1 2 1 1 2 4 5
2 2 1 2 3 4 5 7
2 2 1 1 5 6 6 7

22. 1 2 2 1 0 2 4 5
1 1 1 1 1 2 4 5
2 2 1 2 3 4 5 7
2 2 1 1 5 6 6 7

23. 1 2 2 1 0 2 4 5
1 1 1 1 1 2 4 5
2 2 1 2 3 4 5 7
2 2 1 1 5 6 6 7

24. 1 2 2 1 0 2 4 5
1 1 1 1 1 2 3 4
2 2 1 2 3 4 4 6
2 2 1 1 5 6 5 6

25. 1 2 2 1 0 2 4 5
1 1 1 1 1 2 3 4
2 2 1 2 3 4 4 6
2 2 1 1 5 6 5 6

26. 1 2 2 1 0 2 4 5
1 1 1 1 1 2 3 4
2 4 1 2 3 4 4 6
2 2 1 1 5 6 5 6

27. 1 2 2 1 0 2 4 5
1 1 1 1 1 2 3 4
2 4 1 2 3 6 4 6
2 2 1 1 5 7 5 6

28. 1 2 2 1 0 2 4 5
1 1 1 1 1 2 3 4
2 4 1 2 3 6 4 6
2 2 1 1 5 7 5 6

29. Some other things.

30. backwards
back pointers
overhauling

31. Demo

32. What's Left

33. more tests
optimize

34. Wisdom Captured

35. Build relationships.

36. Software Development
Know the Theory
Write the Tests
Code

37. I'm in the right field.

38. Sneak Peek

40. Questions?