Hia. Does anyone know of online resources on the D* algorithm? (Dynamic A*) Been googling around and the only thing I've found so far is an index of Game Programming Gems. thanks in advance.

Quote: Original post by Froztwolf
Hia.
Does anyone know of online resources on the D* algorithm? (Dynamic A*)
Been googling around and the only thing I've found so far is an index of Game Programming Gems.

thanks in advance.

What particularly were you after? Code, published papers, examples of use?
The original literature is available online. As for code, I'm sure I've seen it out there, but I cannot recall off the top of my head where (try CMU's AI Repository... or [google]).

Cheers,

Timkin

Sorry about being vague.
I don't really need code but published papers, usage examples, tutorials or anything like that would come in handy though.
Just want to learn about the specifics of the method.

Try google scholar:

For original D*, Anthony Stentz: "Optimal and Efficient Path Planning for Partially-Known Environments"

For Focussed D*, Anthony Stentz: "The Focussed D* Algorithm for Real-Time Replanning"

Other (more recent) incremental replanning algorithms:

Sven Koenig, Maxim Likhachev, David Furcy: "Lifelong Planning A*"
Sven Koenig, Maxim Likhachev: "D*Lite"
Dave Ferguson, Anthony Stentz: "The Delayed D* Algorithm for Efficient Path Replanning"

-Jarmo

Thanks a bunch!
I did use google scholar before but it doesn't give intelligeble results when you just search "D*" :P

I definitely recommend Sven Koenig's work. It's easy to read and covers some interesting solutions to pathing in dynamic environments.

Cheers,

Timkin