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Redesign replanning in AD* #178

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gonzalezsieira opened this issue May 7, 2017 · 0 comments

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gonzalezsieira commented May 7, 2017

Predecessors have to be obtained from existing nodes in the roadmap, so AD* has to label them as predecessors at the same time that they are retrieved from the successor function. Therefore, having a predecessor function does not make sense in this algorithm.
Some minor changes have to be made in the node expander to be consistent with the description of the algorithm.

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