trí tuệ nhân tạo cao hoàng trứ chương ter5 1 planning sinhvienzone com

om C ne nh Vi en Zo Planning Si Chapter SinhVienZone.com https://fb.com/sinhvienzonevn om Overview B C D nh Vi en A Zo ne C The blocks world B A D goal Si start C How to achieve the goal from the start? Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 02 April 2010 https://fb.com/sinhvienzonevn .C om Overview • Problem-solving is searching and moving through a Si nh Vi en Zo ne state space Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 02 April 2010 https://fb.com/sinhvienzonevn .C om Overview • Problem-solving is searching and moving through a Zo ne state space nh Vi en • Planning is searching for successful paths through a Si state space Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 02 April 2010 https://fb.com/sinhvienzonevn .C om Overview • Planning is the process of computing several steps of Zo ne a problem-solving procedure before executing them Si nh Vi en • Planning = problem solving in advance Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 02 April 2010 https://fb.com/sinhvienzonevn .C om Overview ne • Planning is important if solutions cannot be undone Zo • If the universe is not predictable, then a plan can fail Si nh Vi en  dynamic plan revision Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 02 April 2010 https://fb.com/sinhvienzonevn ne C om The Blocks World C D nh Vi en A Zo B B A D goal Si start C Planning = generating a sequence of actions to achieve the goal from the start Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 02 April 2010 https://fb.com/sinhvienzonevn .C om The Blocks World Zo nh Vi en • UNSTACK(A, B) ne Actions: • STACK(A, B) Si • PICKUP(A) • PUTDOWN(A) Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 02 April 2010 https://fb.com/sinhvienzonevn .C om The Blocks World ne Conditions and results: nh Vi en Zo • ON(A, B) • ONTABLE(A) Si • CLEAR(A) • HOLDING(A) • ARMEMPTY Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 02 April 2010 https://fb.com/sinhvienzonevn .C om The Blocks World ne Specification of actions: Zo • PRECONDITION: list of predicates that must be true nh Vi en for an operator to be applied • ADD: list of new predicates that an operator causes to become true Si • DELETE: list of old predicates that an operator causes to become false • Predicates not in ADD nor DELETE are unaffacted Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 10 02 April 2010 https://fb.com/sinhvienzonevn .C om The Blocks World ne Specification of actions: Zo STACK(x, y): nh Vi en P: CLEAR(y)  HOLDING(x) D: CLEAR(y)  HOLDING(x) A: ARMEMPTY  ON(x, y) Si UNSTACK(x, y): P: ON(x, y)  CLEAR(x)  ARMEMPTY D: ON(x, y)  ARMEMPTY A: HOLDING(x)  CLEAR(y) Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 11 02 April 2010 https://fb.com/sinhvienzonevn .C om The Blocks World ne Specification of actions: Zo PICKUP(x): nh Vi en P: CLEAR(x)  ONTABLE(x)  ARMEMPTY D: ONTABLE(x)  ARMEMPTY A: HOLDING(x) Si PUTDOWN(x): P: HOLDING(x) D: HOLDING(x) A: ONTABLE(x)  ARMEMPTY Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 12 02 April 2010 https://fb.com/sinhvienzonevn ne C om The Blocks World C D nh Vi en A Zo B Si start: ON(B, A)  ONTABLE(A)  ONTABLE(C)  ONTABLE(D)  ARMEMPTY Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com C B A D goal: ON(C, A)  ON(B, D)  ONTABLE(A)  ONTABLE(D)  13 02 April 2010 https://fb.com/sinhvienzonevn .C om Goal Stack Planning Zo nh Vi en Goals ne Stack Si Operators to satisfy the Goals Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com + Database Current situation Specification of Operators/Actions 14 02 April 2010 https://fb.com/sinhvienzonevn .C om Goal Stack Planning ne Push the original goal to the stack Repeat until the stack is empty: nh Vi en subgoals to the stack Zo – If stack top is a compound goal, push its unsatisfied – If stack top is a single unsatisfied goal, replace it by an operator that makes it satisfied and push the operator’s precondition to the stack Si – If stack top is an operator, pop it from the stack, execute it and change the database by the operation’s affects – If stack top is a satisfied goal, pop it from the stack Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 15 02 April 2010 https://fb.com/sinhvienzonevn ne C om Goal Stack Planning C D nh Vi en A Zo B Si start: ON(B, A)  ONTABLE(A)  ONTABLE(C)  ONTABLE(D)  ARMEMPTY Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com C B A D goal: ON(C, A)  ON(B, D)  ONTABLE(A)  ONTABLE(D)  16 02 April 2010 https://fb.com/sinhvienzonevn Stack nh Vi en Zo ne ON(C, A) ON(B, D) ON(C, A)  ON(B, D)  OTAD C om Goal Stack Planning Si CLEAR(A) HOLDING(C) CLEAR(A)  HOLDING(C) STACK(C, A) ON(B, D)  ON(C, A)  ON(B, D)  OTAD Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com Database ON(B, A) OTACD ARMEMPTY ON(B, A) OTACD ARMEMPTY 17 02 April 2010 https://fb.com/sinhvienzonevn om Goal Stack Planning ne Zo Si nh Vi en UNSTACK(B, A) STACK(B, D) PICKUP(C) STACK(C, A) C Plan Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 18 02 April 2010 https://fb.com/sinhvienzonevn ne C om Goal Stack Planning B nh Vi en A Zo C B C goal: ON(A, B)  ON(B, C) Si start: ON(C, A)  ONTABLE(A)  ONTABLE(B)  ARMEMPTY A Sussman Anomaly (1975) Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 19 02 April 2010 https://fb.com/sinhvienzonevn om Goal Stack Planning ne Zo nh Vi en UNSTACK(C, A) PUTDOWN(C) PICKUP(A) STACK(A, B) UNSTACK(A, B) PUTDOWN(A) PICKUP(B) STACK(B, C) PICKUP(A) STACK(A, B) Si 10 .C Plan Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 20 02 April 2010 https://fb.com/sinhvienzonevn om Goal Stack Planning ne Zo nh Vi en UNSTACK(C, A) PUTDOWN(C) PICKUP(A) STACK(A, B) UNSTACK(A, B) PUTDOWN(A) PICKUP(B) STACK(B, C) PICKUP(A) STACK(A, B) Si 10 .C Plan Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 21 02 April 2010 https://fb.com/sinhvienzonevn .C om Questions ne • Why stacks used? Zo • Why a compound goal retained in the stack with its nh Vi en subgoals? Si • Does the order of subgoals in the stack matter? Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 22 02 April 2010 https://fb.com/sinhvienzonevn .C om Linear vs Non-Linear Planning • Goal Stack planning is linear: satisfies subgoals Zo ne sequentially, one after another Si subgoals nh Vi en • Non-linear planning: consider interaction among Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 23 02 April 2010 https://fb.com/sinhvienzonevn .C Si nh Vi en Zo ne Reading Non-linear planning om Homework Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 24 02 April 2010 https://fb.com/sinhvienzonevn ... ONTABLE(B)  ARMEMPTY A Sussman Anomaly (19 75) Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 19 02 April 2 010 https://fb.com/sinhvienzonevn om Goal Stack Planning ne Zo nh Vi en UNSTACK(C, A)... them Si nh Vi en • Planning = problem solving in advance Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 02 April 2 010 https://fb.com/sinhvienzonevn .C om Overview ne • Planning is important... CLEAR(x)  ARMEMPTY D: ON(x, y)  ARMEMPTY A: HOLDING(x)  CLEAR(y) Cao Hoang Tru CSE Faculty - HCMUT SinhVienZone.com 11 02 April 2 010 https://fb.com/sinhvienzonevn .C om The Blocks World ne Specification