Goal Utility Dependency Subbarao Kambhampati目标效用依赖Subbarao kambhampati.pptVIP

Planning with Goal Utility Dependencies J. Benton Department of Computer Science Arizona State University Tempe, AZ j.benton@ Classical vs. Over-Subscription Planning Classical Planning Initial state Set of goals Actions Find a plan that achieves all goals (prefer plans with fewer actions) Over-Subscription Planning Initial state Goals with differing utilities Actions with differing costs Find a plan with highest net benefit (cumulative utility – cumulative cost) (best plan may not achieve all the goals) Goal Dependencies Complementary Goals Substitute Goals Conditional Dependency Ch