规划提出能达到一定目标的行动序列的任务资料教材.pptVIP

规划 规划：提出能达到一定目标的行动序列的任务 基于搜索的问题智能体 逻辑规划智能体 规划环境 经典的：完全可观察、确定性的、有限的、静态的以及离散的。 非经典：部分可观察或随机 主要内容 规划问题 规划问题语言：语法和语义 状态空间搜索规划 前向、后向 利用问题的表示的规划算法 偏序规划 命题逻辑规划 规划方法分析 现实世界问题的困难 假设一个问题智能使用标准的搜索算法… 什么样的行动是相关的？ 例子：购买“人工智能教材”，假设对于每一个10位数字的ISBN号码都有一个购买行动 遍历搜索vs.后项搜索 如何寻找一个好的启发函数？ 例如在线购买4本不同的书，4个步骤共有1040规划 状态耗散的估计：所要买书的剩余数目应是一个好的估计。 Problem-dependent vs. –independent：启发函数取未满足的合取式的数目 如何将问题分解？ 假设大部分现实世界问题是近似可分解的：需要做些附加工作来合并子规划 Planning language What is a good language? Expressive enough to describe a wide variety of problems. Restrictive enough to allow efficient algorithms to operate on it. Planning algorithm should be able to take advantage of the logical structure of the problem. STRIPS and ADL General language features Representation of states Decompose the world in logical conditions and represent a state as a conjunction of positive literals (atomic sentences) Propositional literals: Poor ? Unknown FO-literals (grounded and function-free): At(Plane1, Melbourne) ? At(Plane2, Sydney) Closed world assumption: conditions not mentioned are assumed false Representation of goals Partially specified state and represented as a conjunction of positive ground literals A goal is satisfied if the state contains all literals in goal. General language features (2) Representations of actions Action = PRECOND + EFFECT Action(Fly(p,from, to), PRECOND: At(p,from) ? Plane(p) ? Airport(from) ? Airport(to) EFFECT: ?AT(p,from) ? At(p,to)) = action schema (模式) (p, from, to need to be instantiated) Action name and parameter list Precondition (conj. of function-free literals) Effect (conj of function-free literals and P is True and ?P is false) Add-list vs delete-list in Effect Language semantics How do actions affect states? An action is applicable in any state that satisfies the precondition. For FO action schema applicability involves a substitution ? for the variables in the PRECOND. Ex: At(P1,JFK) ? At(P2,SFO) ? Plane(P1) ? Plane(P2) ? Airport(JFK) ? Airport(SFO) Satisfies : At(p,from) ? Plane