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Title: Rapidly replanning A*
Authors: Ganganath, N
Cheng, CT 
Tse, CK 
Keywords: Heuristic search
Path planning
Incremental search
Issue Date: 2016
Publisher: Institute of Electrical and Electronics Engineers
Source: 2016 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery (CyberC), Chengdu, China, 13-15 Oct 2016, p. 386-389 How to cite?
Abstract: In this paper, Rapidly Replanning A* (RRA*) algorithm is proposed for path planning and replanning in partially unknown environments. RRA* uses an effective mechanism to reuse previous search results, which considerably accelerates its replanning process compared to repetitive replanning from scratch. RRA* guarantees to find an optimal path from the current location of an agent to its target location based on the available information. Simulation results verify the optimality of the path generated by RRA* and the superior efficiency of RRA* in path replanning.
DOI: 10.1109/CyberC.2016.81
Rights: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
The following publication N. Ganganath, C. T. Cheng and C. K. Tse, "Rapidly Replanning A*," 2016 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery (CyberC), Chengdu, China, 2016, pp. 386-389 is available at
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