A Hybrid Liner Programming and Relaxed Plan Heuristic for 混合线性规划松弛计划的启发式算法.pptVIP

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A Hybrid Liner Programming and Relaxed Plan Heuristic for 混合线性规划松弛计划的启发式算法.ppt

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A Hybrid Liner Programming and Relaxed Plan Heuristic for 混合线性规划松弛计划的启发式算法

A Hybrid Linear Programming and Relaxed Plan Heuristic for Partial Satisfaction Planning Problems J. Benton PSPUDPartial Satisfaction Planning with Utility Dependency Approach Building a Heuristic Building a Heuristic Building a Heuristic Search Getting a Relaxed Plan Getting a Relaxed Plan Getting a Relaxed Plan Getting a Relaxed Plan Getting a Relaxed Plan Experimental Setup Results Results Summary Menkes van den Briel Subbarao Kambhampati Arizona State University cost: 150 cost: 1 (at plane loc2) (in person plane) (fly plane loc2) (debark person loc2) (at plane loc1) (in person plane) (at plane loc2) (at person loc2) utility((at plane loc1) (at person loc3)) = 10 cost: 150 (fly plane loc3) (at plane loc3) (at person loc2) utility((at plane loc3)) = 1000 utility((at person loc2)) = 1000 util(S0): 0 S0 util(S1): 0 S1 util(S2): 1000 S2 util(S3): 1000+1000+10=2010 S3 sum cost: 150 sum cost: 151 sum cost: 251 net benefit(S0): 0-0=0 net benefit(S1): 0-150=-150 net benefit(S2): 1000-151=849 net benefit(S3): 2010-251=1759 Actions have cost Goal sets have utility loc2 loc1 loc3 100 200 150 101 Maximize Net Benefit (utility - cost) (Do, et al., IJCAI 2007) (Smith, ICAPS 2004; van den Briel, et al., AAAI 2004) Action Cost/Goal Achievement Interaction Plan Quality Heuristic search for SOFT GOALS Relaxed Planning Graph Heuristics Integer programming (IP) LP-relaxation Heuristics (Do Kambhampati, KCBS 2004; Do, et al., IJCAI 2007) Cannot take all complex interactions into account Current encodings don’t scale well, can only be optimal to some plan step BBOP-LP Use its LP relaxation for a heuristic value Build a network flow-based IP encoding Perform branch and bound search No time indices Uses multi-valued variables Gives a second relaxation on the heuristic Uses the LP solution to find a relaxed plan (similar to YAHSP, Vidal 2004) A network flow model on variable transitions Capture relevant transitions with multi-valued fluents prevail constraints initial states goal st