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- 约5.64千字
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- 2026-10-13 发布于浙江
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states?:real-valuedcoordinatesofrobotjointanglespartsoftheobjecttobeassembled
actions?:continuousmotionsofrobotjoints
goaltest?:completeassembly
pathcost?:timetoexecuteDirectedGraph=Nodes+ArcsSequenceofnodes(ni1，ni2，…，nik)Ifexistapathfromnitonj,thennjissaidtobeaccessiblefromni;ninjnj:Asuccessor(后继)ofni;ni:Anancestor(前驱)ofnjC(ni,nj):thecostofanarcdirectedfromnjtoni.ExplicitandImplicitGraph（显示图与隐式图）Implicit,隐式(362866states)=9*8!-14Explicit,显式(14states)57123845671238456712384
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