ANDORgraphs.pptVIP

* * * * AND/OR graphs Some problems are best represented as achieving subgoals, some of which achieved simultaneously and independently (AND) Up to now, only dealt with OR options Possess TV set Steal TV Earn Money Buy TV Searching AND/OR graphs A solution in an AND-OR tree is a sub tree whose leafs are included in the goal set Cost function: sum of costs in AND node f(n) = f(n1) + f(n2) + …. + f(nk) How can we extend A* to search AND/OR trees? The AO* algorithm. AND/OR search We must examine several nodes simultaneously when choosing the next move A B C D 38 E F G H I J 17 9 27 (5) (10) (3) (4) (15) (10) A B C D (3) (4) (5) (9) AND/OR Best-First-Search Traverse the graph (from the initial node) following the best current path. Pick one of the unexpanded nodes on that path and expand it. Add its successors to the graph and compute f for each of them Change the expanded node’s f value to reflect its successors. Propagate the change up the graph. Reconsider the current best solution and repeat until a solution is found AND/OR Best-First-Search example A B C D (3) (4) (5) (9) A (5) 2. 1. A B C D E F (4) (4) (10) (3) (9) (4) (10) 3. AND/OR Best-First-Search example B C D G H E F (5) (7) (4) (4) (10) (6) (12) (4) (10) 4. A A Longer path may be better B C D G H E F A J I Unsolvable B C D G H E F A J I Unsolvable Interacting Sub goals C D E A (2) (5) AO* algorithm Let G be a graph with only starting node INIT. Repeat the followings until INIT is labeled SOLVED or h(INIT) FUTILITY Select an unexpanded node from the most promising path from INIT (call it NODE) Generate successors of NODE. If there are none, set h(NODE) = FUTILITY (i.e., NODE is unsolvable); otherwise for each SUCCESSOR that is not an ancestor of NODE do the following: Add SUCCESSSOR to G. If SUCCESSOR is a terminal node, label it SOLVED and set h(SUCCESSOR) = 0. If SUCCESSPR is not a terminal node, compute its h AO* algorithm (Cont.) Propagate the newly discov