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AO* revisited

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https://ir.library.oregonstate.edu/concern/defaults/n870zs111

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  • Preprint submitted to Elsevier Science 30 June 2004.
  • This paper revisits the AO* algorithm introduced by Martelli and Montanari [1] and made popular by Nilsson [2] The paper's main contributions are: (1) proving that the value of a node monotonically increases as the AO* search progresses , (2) proving that selective updates of the value function in the AO* algorithm are correct and providing guidance to researchers interested in the AO* implementation. (1) and (2) are proven under the assumption that the heuristic used by AO* is consistent. The paper also reviews the use of AO* for solving Markov Decision Processes (MDPs) and Partially Observable Markov Decision Processes (POMDPs).
  • Keywords: AND / OR graph, MDP, consistent heuristic, Heuristic search, AO implementation, admissible heuristic, POMDP
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