JPS+: Over 100x Faster than A* Steve Rabin Principal Lecturer DigiPen Institute of Technology
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1 JPS+: Over 100x Faster than A* Steve Rabin Principal Lecturer DigiPen Institute of Technology
2 JPS+: Over 100x Faster than A* JPS+ now with Goal Bounding: Over 1000x Faster than A*
3 Slides:
4 Coming out April 2015 however, back in June 2014 however, 2 months ago
5 Two Primary Techniques (Node Pruning) JPS+ (ICAPS July 2014) Avoid redundant paths on grids Goal Bounding (developed in Jan 2015) Avoid wrong directions on any kind of map
6 Test Maps (movingai.com) 75 StarCraft maps (198,230 problems) 156 Dragon Age Origins maps (159,465 problems) 36 Warcraft III maps (50,971 problems)
7 Test Maps (movingai.com) 75 StarCraft maps (198,230 problems) 156 Dragon Age Origins maps (159,465 problems) 36 Warcraft III maps (50,971 problems)
8 A* JPS+ JPS+ Goal Bounding
9 A* JPS+ JPS+ Goal Bounding
10 A* JPS+ JPS+ Goal Bounding
11 A* JPS+ JPS+ Goal Bounding
12 A* JPS+ JPS+ Goal Bounding
13 Goal Bounding JPS+ 70x to 350x faster Avoid Redundant Paths 1400x to 5000x faster 20x to 60x faster Avoid Wrong Directions
14 StarCraft Maps: JPS
15 StarCraft Maps: Subgoal Graph
16 StarCraft Maps: JPS+ Goal Bounds
17 StarCraft Maps: Comparison JPS+ Subgoal Graph 0 JPS+ Goal Bounds
18 StarCraft Maps: Comparison JPS+ 0 Subgoal Graph 0 JPS+ Goal Bounds
19 JPS+ 1 value Per Edge 4 values Per Edge Goal Bounding Grids, NavMesh, Graphs Fast O(n) Precompute Avoid Redundant Paths No Map Changes Slow O(n2) Precompute Dijkstra, A*, Uniform other algorithms Cost Avoid Non-Uniform Wrong Cost Directions
20 Overview JPS+ Preprocessing & Runtime Goal Bounding Preprocessing & Runtime Results and Analysis Future Work
21 JPS+ Explained
22 Equivalent Paths on Grids
23 JPS Search Strategy
24 JPS Search Strategy
25 JPS Search Strategy
26 JPS Search Strategy
27 JPS Search Strategy
28 JPS Search Strategy
29 Forced Neighbor Cases
30 Fewer Open List Nodes
31 Four Types of Jump Points Primary Straight Diagonal Target
32 Primary Jump Points
33 Straight Jump Points
34 Straight Jump Point Distance
35 Diagonal Jump Points
36 Add in Wall Distances (0 or neg)
37 Four Types of Jump Points Primary Straight Diagonal Target (runtime)
38 JPS+ Runtime Example
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49 Goal Bounding
50 A* Search Reachable optimally by exploring left Optimal goal bounds when exploring left
51 JPS+ Search Reachable optimally by exploring left Optimal goal bounds when exploring left
52 A* Search Goal Bounds JPS+ Search Goal Bounds
53 Goal Bounding A* Search
54 Goal Bounding A* Search
55 Goal Bounding A* Search
56 Goal Bounding A* Search
57 Goal Bounding A* Search
58 Goal Bounding A* Search
59 Goal Bounding A* Search
60 Goal Bounding A* Search
61 Goal Bounding A* Search
62 Goal Bounding A* Search
63 Goal Bounding A* Search
64 Goal Bounding A* Search
65 Goal Bounding A* Search
66
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68 How to calculate Goal Bounds Dijkstra floodfill from each node When you put a node on the Closed list Update start node s Goal Bounds (for the edge it originally came from!) Embarrassingly parallel
69 Calculating Goal Bounds
70 Calculating Goal Bounds
71 Calculating Goal Bounds
72 Calculating Goal Bounds
73 Calculating Goal Bounds
74 Calculating Goal Bounds
75 Calculating Goal Bounds
76 Calculating Goal Bounds
77 Calculating Goal Bounds
78 Calculating Goal Bounds
79 Calculating Goal Bounds
80 Calculating Goal Bounds
81 Calculating Goal Bounds
82 Calculating Goal Bounds
83 Calculating Goal Bounds
84 Calculating Goal Bounds
85 Calculating Goal Bounds
86 Calculating Goal Bounds
87 Calculating Goal Bounds
88 Calculating Goal Bounds
89 Calculating Goal Bounds
90 Calculating Goal Bounds
91 Calculating Goal Bounds
92 Calculating Goal Bounds
93 Calculating Goal Bounds
94 Calculating Goal Bounds
95 Calculating Goal Bounds
96 Calculating Goal Bounds
97 Calculating Goal Bounds
98 Calculating Goal Bounds
99 Calculating Goal Bounds
100 Calculating Goal Bounds
101 Calculating Goal Bounds
102 Calculating Goal Bounds
103 Calculating Goal Bounds
104 Calculating Goal Bounds
105 Calculating Goal Bounds
106 Calculating Goal Bounds
107 Calculating Goal Bounds
108 Calculating Goal Bounds
109 Calculating Goal Bounds
110 Calculating Goal Bounds
111 Calculating Goal Bounds
112 Calculating Goal Bounds
113 Optimizations
114 JPS+ Goal Bounding Fast stack and unsorted Open list Only works for grids using Octile heuristic
115 Across the Cape (768x768) 2940 tests From 4.41 to Search A* JPS+ GB Max Open List Size Avg Size On PopCheapest
116 Across the Cape (768x768) 2940 tests From 4.41 to Search A* JPS+ GB Max Open List Size 3464 Avg Size On PopCheapest
117 Across the Cape (768x768) 2940 tests From 4.41 to Search A* JPS+ GB Max Open List Size Avg Size On PopCheapest
118 Across the Cape (768x768) 2940 tests From 4.41 to Search A* JPS+ GB Max Open List Size Avg Size On PopCheapest
119 Across the Cape (768x768) 2940 tests From 4.41 to Search A* JPS+ GB Max Open List Size Avg Size On PopCheapest x faster than A*
120 Arctic Station (768x768) 4100 tests From 4 to long Search A* JPS+ GB Max Open List Size Avg Size On PopCheapest
121 Arctic Station (768x768) 4100 tests From 4 to long Search A* JPS+ GB Max Open List Size Avg Size On PopCheapest
122 Arctic Station (768x768) 4100 tests From 4 to long Search A* JPS+ GB Max Open List Size Avg Size On PopCheapest x faster than A*
123 JPS+ Goal Bounding Function pointer table 256 wall permutations X 8 parent directions 2048 look-up table pointing at 42 functions
124 Problem: Dynamic Maps
125 Goal Bounding Gates
126 Goal Bounding Gates
127 Goal Bounding Gates
128 Recap
129 Goal Bounding JPS+ 70x to 350x faster Avoid Redundant Paths 1400x to 5000x faster 20x to 60x faster Avoid Wrong Directions
130 JPS+ 1 value Per Edge 4 values Per Edge Goal Bounding Grids, NavMesh, Graphs Fast O(n) Precompute Avoid Redundant Paths No Map Changes Slow O(n2) Precompute Dijkstra, A*, Uniform other algorithms Cost Avoid Non-Uniform Wrong Cost Directions
131 StarCraft Maps: Comparison JPS+ 0 Subgoal Graph 0 JPS+ Goal Bounds
132 Future Work Can Goal Bounding work with Subgoal? Can the precompute be done in O(n)? Are there better bounds than a box? How much does it actually speed up A* on a NavMesh?
133 Questions? me for source code Slides at:
Combining Bounding Boxes and JPS to Prune Grid Pathfinding
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