@conference {IIIA-2006-1213, title = {Propagating updates in real-time search:}, booktitle = {Lecture notes in computer science}, volume = {4177}, year = {2006}, pages = {379 - 388}, publisher = {Springer}, organization = {Springer}, abstract = {We enhance real-time search algorithms with bounded propagation of heuristic changes. When the heuristic of the current state is updated, this change is propagated consistently up to k states. Applying this idea to HLRTA*, we have developed the new HLRTA*(k) algorithm, which shows a clear performance improvement over HLRTA*. Experimentally, HLRTA*(k) converges in less trials than LRTA*(k), while the contrary was true for these algorithms without propagation. We provide empirical results showing the benefits of our approach.}, author = {Carlos Hern{\'a}ndez and Pedro Meseguer}, editor = {Roque Mar{\'\i}n, Eva Onaind{\'\i}a, Alberto Bugar{\'\i}n and Jos{\'e} Santos} }