Dynoraii: a Real-Time Planning Algorithm

There has been a recent rise in research on real-time planning algorithms. Most of these algorithms address either the issue of response-time constraints or the issue of dynamic environments. We propose a new real-time planning algorithm, DYNORAII, to address both of these issues simultaneously. DYNORAII is structured as a sequence of ‘‘partial planning and execution’’ cycles to avoid obsolescence of planned solutions at the time of execution. DYNORAII uses a stopping criterion to balance planning cost and execution cost to achieve near optimal response times. DYNORAII was used for the routing problem to optimize total cost in both static and dynamic environments. It shows better average-case time complexity than traditional realtime algorithms.