C 3 LRTA*, color code coordinated LRTA* algorithm
Muaz A. Niazi, Umar Manzoor, Kiran Ijaz · Computational intelligence · 2005
In this paper we present an extension to the Learning Real-Time A* (LRTA*) algorithm by utilizing a color coded coordination scheme. The new algorithm (C3LRTA*) has been applied to solve randomly generated mazes with multiple problem solvers. Our work suggests that by using the proposed modification, we get an improvement in LRTA*. Multiple agents coordinate their actions by using color code, a heritage from those agents, which have previous traversed the current state. We have evaluated this coordination scheme on a large number of test cases with random obstacles and varying obstacle ratio. Experimentation has shown that C3LRTA* performs better then LRTA*. In addition, an increase in the number of agents and/or obstacle ratio, solution quality is improved as compared to LRTA*