A Factored Approac to Modelbased Reactive Planning in Large 一个因素的方法基于模型的反应计划的大.pptVIP

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A Factored Approac to Modelbased Reactive Planning in Large 一个因素的方法基于模型的反应计划的大.ppt

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A Factored Approac to Modelbased Reactive Planning in Large 一个因素的方法基于模型的反应计划的大

A Factored Approach to Model-based Reactive Planning in Large State Spaces Reading B. Williams and P. Nayak, “A Reactive Planner for a Model-based Executive,” International Joint Conference on Artificial Intelligence, 1997. States are commanded through lengthy paths How do we command safely? Model-based Execution Reactive PlanningBurton [Williams Nayak, IJCAI97] Models are Concurrent Probabilistic Automata Example: Model-based Execution in Action To Handle Indirect Control . . . . . . Compile Out Constraints . . . Compile Out Constraints To Compile Out Constraints Eliminate intermediate variables. Transitions are conditioned on mode and control variables Generate transitions as prime implicates: Fi T next(yi = ei)where Fi is a conjunction of mode and control variable assignments. Prime implicates for transitions enumerated using OpSAT 40 seconds on SPARC 20 for 12,000 clause spacecraft model. Why Search is Needed 1) An achieved goal can be clobbered by a subsequent goal. Why Search is Needed 2) Two goals can compete for the same variable in their subgoals. Why Search is Needed 3) A state transition of a subgoal variable has irreversible effect. Eliminating Type 1 Search 1) An achieved goal can be clobbered by a subsequent goal. Observe: Component schematics tend not to have loops Solution The only variables used to set a variable (y7) is its ancestors. y7 can be changed without affecting its descendants. Ancestors no longer needed once variable is set. Eliminating Type 3 Search 2) Two goals can compete for the same variable in their subgoals. Sibling goals (7,4) may both need shared ancestors. Eliminating Type 3 Search 3) A state transition of a subgoal variable has irreversible effect. Solution: Mark Allowed Transitions/Assignments Solution: Mark Allowed Transitions/Assignments Solution: Mark Allowed Transitions/Assignments Solution: Mark Allowed Transitions/Assignments Solution: Mark Allowed Transitions/Assignments Solution: Mark Al