Lab 7: Mazes - A* Search

Overview

In this lab, we will implement a Heap for performing an intelligent search of a maze.

Materials

• IntelliJ
• Lab partner

Setup

1. Download the skeleton for this project.
2. Unpack the code into a new IntelliJ Java project.

Description

It is possible to do more than just find a solution trail in a maze. We now wish to find the minimum length path from the explorer to the goal state. While the Stack interface would be optimal in space, it was not guaranteed to find the minimum length trail. The Queue interface performed better, but at the expense of remembering all possible trails at a given level.

With a Heap that implements a Priority Queue, we can balance both space and time in our search. In this lab, we will implement this Heap, organized to always have the minimum element available in constant time. If we assign priority in a certain way, we will be implementing A* Search, a classic pathfinding algorithm.

Step 1 - Parent and Children

Complete the parent(), left(), right(), and legal() methods. Each method has a corresponding test case which will pass with a correct solution.

Step 2 - isHeap()

We will be implementing a Heap where the minimum node will be the root of the Heap. Our implementation will use an ArrayList to store all the elements of our Heap. Complete the isHeap() method so that it will check that all of the properties of a Heap are present. Namely, you must verify that each element is smaller than its children elements.

To compare elements, we will be using the Comparator class in Java. You can assume a call to comparator.compare(t, t1) will return -1 if t is less than t1, 0 if they are equal, and 1 if t is greater than t1.

Because of our use of an ArrayList to track the elements, we will always assume that the elements form a Heap that is as compact as possible.

If your implementation is correct, it should pass all four testIsHeap test cases.

Step 3 - swap

Swapping two elements in an array is an extremely common operation, and useful for both adding and removing elements from a heap. Implement the swap() method, and make sure testSwap() passes.

Step 4 - element and add

The next method to implement is element. This should return the root element, which will always be stored in the first position of the ArrayList. Make sure to do the emptyCheck to throw an exception if there are no elements in the heap.

Then, you should implement the add method. New elements are added to the end of the ArrayList, and then filtered up repeatedly when the element is found to be less than its parent. Use the Comparator object to calculate if an element is greater or less than another element.

Once these methods are implemented, the testAdd1() and testAdd2() test cases should pass.

Step 5 - indexOfLowestInFamily

This method considers a parent index and its two children. Given the index of a parent, this method checks the value at that index against the values of its children. If either child is smaller than the parent, the index of the smallest child is returned. If no children are present, or the parent has the lowest value among the three, the parent’s own index is returned.

Once this method is implemented the six testLowestInFamily tests should all pass.

Step 6 - remove

Elements can be removed from the heap through a filtering process similar to adding to a heap. First, perform the emptyCheck, which will throw an exception if there are no elements to be removed. Then, swap the first and last elements. Next, remove the last element, and save its value to be returned at the end of the method. The swap could cause a violation of the Heap property that all parents must be smaller than their children. If the element is greater than only one of its children, swap these two elements. If the element is greater than both of its children, swap the smaller of the two children with the element, so that we don’t break the Heap property any further. Finally, when a swap was made, repeatedly check the subsequent descendants to guarantee that the Heap property is always preserved.

Once this method is implemented, the testRemove() test case should pass.

Step 7 - TrailEstimator

Our penultimate step is to create the heuristic function for comparing trails. A Trail cannot be properly compared to another trail without the context of a puzzle. Java lets us compare in another way for this circumstance. In the TrailEstimator class, you will find two methods. This class is a Comparator for the Trail objects, which will have the proper Puzzle object available.

The estimateFor method should return the length of the given Trail, plus an estimate for the remaining length of the trail. This estimate should be calculated using the manhattanDistanceTo method of the Position class.

The compare method will then be able to compare two Trail objects, using using the estimate for each Trail calculated in the above method. Return -1 if the first Trail estimate is less than the second, 0 if they are equal, and 1 if the first Trail estimate is greater than the second.

Step 8 - Evaluation

Compare the new Heap Searcher to the earlier Stack and Queue implementations. Create 10 random mazes of size 50x50. Now, for each maze and strategy (Stack, Queue, and Heap), record the number of visited nodes as a percentage of the total number of open spaces in the initial maze. Discuss the differences you see between the Stack, Queue, and Heap.

What to Hand In

Submit your TrailEstimator.java and MinHeap.java implementations via Teams, along with your evaluation document.

Grading

• To Partially Complete this lab, complete Steps 1, 2, 3, 4, 5, and 6
• To Complete this lab, do the above and Steps 7 and 8