Research Article
Planning for Multiple Preferences versus Planning with No Preference
Algorithm 1
MOA* algorithm.
MOA* | (1) Initialize Open with the start node. Initialize an empty set of nodes Solutions. | (2) Find a subset of Open, denoted , of nodes with -values not dominated by an -value of any node in Open or | βββSolutions. | (3) If , then exit returning solutions found by following efficient back pointers from nodes in Solutions. | (4) Otherwise, select node from , remove from Open, and add to Closed. | (5) If is a solution node, then add to Solutions and Goto 2. | (6) Otherwise, Expand , adding successors to Open (removing previously expanded successors from Closed) and computing | βββsuccessor -values. Goto 2. |
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