@InProceedings{koenig04a,
  author =	 {Sven Koenig},
  title =	 {A Comparison of Fast Search Methods for Real-Time
                  Situated Agents},
  booktitle =	 {Proceedings of the Third International Joint
                  Conference on Autonomous Agents and MultiAgent
                  Systems},
  pages =	 {864--871},
  year =	 2004,
  publisher =	 {{ACM}},
  abstract =	 {Real-time situated agents, including characters in
                  real-time computer games, often do not know the
                  terrain in advance but automatically observe it
                  within a certain range around them. They have to
                  interleave planning with movement to make planning
                  tractable when moving autonomously to user-specified
                  coordinates. Planning faces real-time requirements
                  since it is important that the agents be responsive
                  to the commands of the users and move smoothly. In
                  this paper, we compare two fast search methods for
                  this task that speed up planning in different ways,
                  namely realtime heuristic search (LRTA*) and
                  incremental heuristic search (D* Lite), resulting in
                  the first comparison of real-time and incremental
                  heuristic search in the literature. We characterize
                  when to choose which search method, depending on the
                  kind of terrain and the planning objective.},
  keywords =     {planning search},
  url =		 {http://jmvidal.cse.sc.edu/library/koenig04a.pdf},
  comment =	 {masrg},
  googleid = 	 {scBXIITLt24J:scholar.google.com/},
  cluster = 	 {7978069033248866481}
}