In real-time pathfinding in unknown terrain an agent is required to solve a pathfinding problem by alternating a time-bounded deliberation phase with an action execution phase. Real-time heuristic search algorithms are designed for general search applications with time constraints but unfortunately in pathfinding they are known to produce poor-quality solutions. In this paper we propose p-FRITR...

In the multi-agent pathfinding problem, multiple agents must cooperate to plan non-interfering paths that bring each agent from its current state to its goal state. We present the first practical and admissible algorithm for the multi-agent pathfinding problem. First, we introduce a general technique called operator decomposition, which can be used to reduce the branching factors of many combin...

Pathfinding is a fundamental problem that most commercial games must deal with. Due to the increase in game complexity, early solutions to the problem of pathfinding were soon overwhelmed. A* alone, a classic search algorithm, is no longer sufficient to provide the best solution. The popularization of using navigation mesh in pathfinding makes A* search a very small proportion of pathfinding im...

In 2004, Botea et al. published the HPA* algorithm (Hierarchical Pathfinding A*), which is the first detailed study of hierarchical pathfinding in games. However, HPA* can be optimized. In this paper, we introduce the DHPA* and SHPA* hierarchical pathfinding algorithms, along with a metric for comparing the dynamic performance of pathfinding algorithms in games. We show that DHPA* searches up t...

Multi-agent pathfinding, where multiple agents must travel to their goal locations without getting stuck, has been studied in both theoretical and practical contexts, with a variety of both optimal and sub-optimal algorithms proposed for solving problems. Recent work has shown that there is a lineartime check for whether a multi-agent pathfinding problem can be solved in a tree, however this wa...

The most basic requirement for any computer controlled game agent in a video game is to be able to successfully navigate the game environment. Pathfinding is an essential component of any agent navigation system. Pathfinding is, at the simplest level, a search technique for finding a route between two points in an environment. The real-time multi-agent nature of video games places extremely tig...

The relative importance of neural activity versus activity-independent cues in shaping the initial wiring of the brain is still largely an open question. While activity is clearly critical for circuit rearrangements after initial connections have been made, whether it also plays a role in initial axon pathfinding remains to be determined. Here, we investigated this question using the guidance o...

In cooperative pathfinding problems, non-interfering paths that bring each agent from its current state to its goal state must be planned for multiple agents. We present the first practical, admissible, and complete algorithm for solving problems of this kind. First, we propose a technique called operator decomposition, which can be used to reduce the branching factors of many search algorithms...

Recent developments in metabolic engineering have led to the successful biosynthesis of valuable products, such as the precursor of the antimalarial compound, artemisinin, and opioid precursor, thebaine. Synthesizing these traditionally plant-derived compounds in genetically modified yeast cells introduces the possibility of significantly reducing the total time and resources required for their...

Although evidence exists that activation of the Rho family GTPase Cdc42 affects axonal development, its specific roles within a growth cone are not well delineated. To evaluate the model that Cdc42 activation regulates growth cone navigation by promoting filopodial activity, we adopted a live analysis strategy that uses transgenic Drosophila lines in which neurons coexpressed constitutively act...