We present a new preprocessing algorithm for embedding the nodes of a given edge-weighted undirected graph into a Euclidean space. The Euclidean distance between any two nodes in this space approximates the length of the shortest path between them in the given graph. Later, at runtime, a shortest path between any two nodes can be computed with A* search using the Euclidean distances as heuristic. Our preprocessing algorithm, called FastMap, is inspired by the data mining algorithm of the same name and runs in near-linear time. Hence, FastMap is orders of magnitude faster than competing approaches that produce a Euclidean embedding using Semidefinite Programming. FastMap also produces admissible and consistent heuristics and therefore guarantees the generation of shortest paths. Moreover, FastMap applies to general undirected graphs for which many traditional heuristics, such as the Manhattan Distance heuristic, are not well defined. Empirically, we demonstrate that A* search using the FastMap heuristic is competitive with A* search using other state-of-the-art heuristics, such as the Differential heuristic.

Recently, a Euclidean heuristic (EH) has been proposed for A* search. EH exploits manifold learning methods to construct an embedding of the state space graph, and derives an admissible heuristic distance between two states from the Euclidean distance between their respective embedded points. EH has shown good performance and memory efficiency in comparison to other existing heuristics such as differential heuristics. However, its potential has not been fully explored. In this paper, we propose a number of techniques that can significantly improve the quality of EH. We propose a goal-oriented manifold learning scheme that optimizes the Euclidean distance to goals in the embedding while maintaining admissibility and consistency. We also propose a state heuristic enhancement technique to reduce the gap between heuristic and true distances. The enhanced heuristic is admissible but no longer consistent. We then employ a modified search algorithm, known as B' algorithm, that achieves optimality with inconsistent heuristics using consistency check and propagation. We demonstrate the effectiveness of the above techniques and report un-matched reduction in search costs across several non-trivial benchmark search problems.

We pose the problem of constructing good search heuristics as an optimization problem: minimizing the loss between the true distances and the heuristic estimates subject to admissibility and consistency constraints. For a well-motivated choice of loss function, we show performing this optimization is tractable. In fact, it corresponds to a recently proposed method for dimensionality reduction. We prove this optimization is guaranteed to produce admissible and consistent heuristics, generalizes and gives insight into differential heuristics, and show experimentally that it produces strong heuristics on problems from three distinct search domains.

In many scenarios, quickly solving a relatively small search problem with an arbitrary start and arbitrary goal state is important (e.g., GPS navigation). In order to speed this process, we introduce a new class of memory-based heuristics, called true distance heuristics, that store true distances between some pairs of states in the original state space can be used for a heuristic between any pair of states. We provide a number of techniques for using and improving true distance heuristics such that most of the benefits of the all-pairs shortest-path computation can be gained with less than 1% of the memory. Experimental results on a number of domains show a 6-14 fold improvement in search speed compared to traditional heuristics.