Lisp Intelligent AgentsLisp的智能代理.pptVIP

A* search f(n) = g(n) + h(n) node exp. nodes list { S(8) } S { A(9) B(9) C(11) } A { B(9) G(10) C(11) D(inf) E(inf) } B { G(9) G(10) C(11) D(inf) E(inf) } G { C(11) D(inf) E(inf) } Solution path found is S B G, 4 nodes expanded.. Still pretty fast. And optimal, too. Proof of the optimality of A* Assume that A* has selected G2, a goal state with a suboptimal solution, i.e., g(G2) f* We show that this is impossible Choose a node n on the optimal path to G Because h(n) is admissible, f* = f(n) If we choose G2 instead of n for expansio