On Backtracking in Real-time Heuristic Search

TL;DR

This paper provides the first theoretical analysis of backtracking in real-time heuristic search, establishing bounds on solution costs and broadening understanding beyond empirical observations.

Contribution

It offers the first theoretical bounds on backtracking in real-time heuristic search, applicable to a wide class of algorithms.

Findings

Upper bounds on solution cost are exponential and linear in backtracking parameter.

Results apply to many existing real-time heuristic search algorithms.

Theoretical insights complement previous empirical studies.

Abstract

Real-time heuristic search algorithms are suitable for situated agents that need to make their decisions in constant time. Since the original work by Korf nearly two decades ago, numerous extensions have been suggested. One of the most intriguing extensions is the idea of backtracking wherein the agent decides to return to a previously visited state as opposed to moving forward greedily. This idea has been empirically shown to have a significant impact on various performance measures. The studies have been carried out in particular empirical testbeds with specific real-time search algorithms that use backtracking. Consequently, the extent to which the trends observed are characteristic of backtracking in general is unclear. In this paper, we present the first entirely theoretical study of backtracking in real-time heuristic search. In particular, we present upper bounds on the solution cost exponential and linear in a parameter regulating the amount of backtracking. The results hold for a wide class of real-time heuristic search algorithms that includes many existing algorithms as a small subclass.