Abstract
In this paper we optimally solve the Watchman Route Problem (WRP) on a grid. We are given a grid map with obstacles and the task is to (offline) find a (shortest) path through the grid such that all cells in the map can be visually seen by at least one cell on the path. We formalize WRP as a heuristic search problem and solve it with an A*-based algorithm. We develop a series of admissible heuristics with increasing difficulty and accuracy. In particular, our heuristics abstract the problem into line-of-sight clusters graph. Then, solutions for the minimum spanning tree (MST) and the traveling salesman problem (TSP) on this graph are used as admissible heuristics for WRP. We theoretically and experimentally study these heuristics and show that we can optimally and suboptimally solve problems of increasing difficulties.
| Original language | English |
|---|---|
| Pages (from-to) | 249-257 |
| Number of pages | 9 |
| Journal | Proceedings International Conference on Automated Planning and Scheduling, ICAPS |
| Volume | 30 |
| DOIs | |
| State | Published - 29 May 2020 |
| Externally published | Yes |
| Event | 30th International Conference on Automated Planning and Scheduling, ICAPS 2020 - Nancy, France Duration: 26 Oct 2020 → 30 Oct 2020 |
Bibliographical note
Publisher Copyright:Copyright © 2020, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.
Funding
The research was supported by Rafael Advanced Defense Systems, by Israel Science Foundation (ISF) grant #844/17 to Ariel Felner and by the Cyber grant by from the Prime Minister office. We deeply thank Shahaf Shperberg for his comments and his help.
| Funders | Funder number |
|---|---|
| Rafael Advanced Defense Systems | |
| Israel Science Foundation | 844/17 |