Speeding-Up Any-Angle Path-Planning on Grids

ICAPS, pp. 234-238, 2015.

Cited by: 13|Views23


Simple Subgoal Graphs are constructed from grids by placing subgoals at the corners of obstacles and connecting them. They are analogous to visibility graphs for continuous terrain but have fewer edges and can be used to quickly find shortest paths on grids. The vertices of a Simple Subgoal Graph can be partitioned into different levels t...More



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