Multi-heuristic a

Abstract

We present a novel heuristic search framework, called Multi-Heuristic A* (MHA*), that simultaneously uses multiple, arbitrarily inadmissible heuristic functions and one consistent heuristic to search for complete and bounded suboptimal solutions. This simplifies the design of heuristics and enables the search to effectively combine the guiding powers of different heuristic functions. We support these claims with experimental results on full-body manipulation for PR2 robots.