Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Multi-Resolution A*   Heuristic search-based planning techniques are commonly used for motion
planning on discretized spaces. The performance of these algorithms is heavily
affected by the resolution at which the search space is discretized. Typically
a fixed resolution is chosen for a given domain. While a finer resolution
allows for better maneuverability, it significantly increases the size of the
state space, and hence demands more search efforts. On the contrary, a coarser
resolution gives a fast exploratory behavior but compromises on maneuverability
and the completeness of the search. To effectively leverage the advantages of
both high and low resolution discretizations, we propose Multi-Resolution A*
(MRA*) algorithm, that runs multiple weighted-A*(WA*) searches having different
resolution levels simultaneously and combines the strengths of all of them. In
addition to these searches, MRA* uses one anchor search to control expansions
from these searches. We show that MRA* is bounded suboptimal with respect to
the anchor resolution search space and resolution complete. We performed
experiments on several motion planning domains including 2D, 3D grid planning
and 7 DOF manipulation planning and compared our approach with several
search-based and sampling-based baselines.

27
The categories of this paper are: comp-gas
17
The categories of this paper are: q-fin
34
The categories of this paper are: chem-ph
21
The categories of this paper are: adap-org
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The categories of this paper are: alg-geom
2
The categories of this paper are: math
10
The categories of this paper are: q-bio
19
The categories of this paper are: eess
6
The categories of this paper are: astro-ph
31
The categories of this paper are: ao-sci
33
The categories of this paper are: plasm-ph
24
The categories of this paper are: dg-ga
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The categories of this paper are: econ
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The categories of this paper are: supr-con
3
The categories of this paper are: physics
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The categories of this paper are: nucl-ex