Top-Down Search for Coordinating the Hierarchical Plans …：自上而下的协调层次计划搜索….pptVIP

Identifying and Resolving Conflicts among Agents with Hierarchical Plans Brad Clement and Ed Durfee Artificial Intelligence Laboratory University of Michigan {bradc, durfee}@ presentation available at /people/bradc/aaai99/negotiation.ppt What does this have to do with negotiation? Mechanisms for recognizing the need to resolve conflicts identifying what needs to be resolved(resource conflicts) identifying who should be involved finding candidate global solutions for different settlements Not a technique specifying how conflicts are resolved Why negotiate plans? Coordinating plans with conflicts involves negotiation. Plans relate goals to actions. Conditions and effects of actions represent resources. Values are often placed on actions. Understanding changes in intended actions during negotiation is natural. Plan Coordination Low-level plan coordination (Georgeff ‘83, Ephrati Rosenchein ‘94, etc.) Why Hierarchical Plans? Negotiation is easier at higher levels Better solutions may exist at lower levels Hierarchical Plans Conditions (pre, in, post) often specified only for primitives Need refinement info at abstract level Robust plan execution systems (PRS, RAPS, JAM) Summary Information must, may always, sometimes external preconditions external postconditions Determining Temporal Relations CanAnyWay(relation, psum, qsum) - relation can hold for any way p and q can be executed MightSomeWay(relation, psum, qsum) - relation might hold for some way p and q can be executed Determining Temporal Relations Determining Temporal Relations Top-Down Search search state set of expanded plans set of temporal constraints set of blocked subplans search operators expand, block, constrain CAW used to identify solutions ?MSW used to identify failure CAW and ?MSW improve search ?CAW and MSW synchronize, look deeper, or backtrack MSW identifies threats to resolve Top-Down Search Top-Down Search Coordinating at Abstract Levels Can Improve Performance BFS algorithm Ne