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<article-title>Speeding up Moving-Target Search</article-title>
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<author><a href="mailto:skoenig@usc.edu"><name>Sven Koenig</name></a></author>
<aff>USC CS Department</aff>

<author><a href="mailto:maxim+@cs.cmu.edu"><name>Maxim Likhachev</name></a></author>
<aff>CMU Robotics Institute</aff>

<author><a href="mailto:xiaoxuns@usc.edu"><name>Xiaoxun Sun</name></a></author>
<aff>USC CS Department</aff>

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<title>ABSTRACT</title>
<p>In this paper, we study moving-target search, where an agent (=hunter) has to catch a moving target (=prey). The agent does not
necessarily know the terrain initially but can observe it within a
certain sensor range around itself. It uses the strategy to always
move on a shortest presumed unblocked path toward the target,
which is a reasonable strategy for computer-controlled characters
in video games. We study how the agent can find such paths
faster by exploiting the fact that it performs A<sup>*</sup> searches repeatedly.
To this end, we extend Adaptive A<sup>*</sup>, an incremental heuristic
search method, to moving-target search and demonstrate experimentally
that the resulting MT-Adaptive A<sup>*</sup> is faster than isolated
A<sup>*</sup> searches and, in many situations, also D<sup>*</sup> Lite, a state-of-the-art
incremental heuristic search method. In particular, it is faster than
D<sup>*</sup> Lite by about one order of magnitude for moving-target search
in known and initially unknown mazes if both search methods use
the same informed heuristics.</p>
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