文章目录
1 classical planning
kinds of planning
- online
- discrete
- deterministic
- single-agent
- game-theoretic planning
- fully observable
- Sequential
Domain-Independence Automated Planning=GPS
- GPS = general problem solving
- create one planning algorithm that preforms sufficiently well on many application domain.
plan validation
use VAL plan to independently verify if the plan is correct.
什么是plan
plan的最优解和次优解
因为有的planing找不到最优解，所以产生了Optimal Classical Planning和Satisficing laical Planning的区别：
1.1 planner的更新换代
transition systems
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很快，在处理问题的时候发现transition system不好！哪里不好呢？就是定义S为state不好，数量太大了。
- 所以下一代为STRIPS：
STRIPS
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这个好啊，只用variable来表示，就可以表示2的variable次方的state了，假设variable都是布尔变量。
SAS+
这个允许使用non-binary的state variables
PDDL
- 结合了STRIPS 和ADL
- ADL ：Abstract Description Language。是一些逻辑谓词，first-order logic。
- PDDL describes the world in a schematic way. This makes the encoding much smaller and easy to write.
- grounding:Planner translate the schematic input into STRIPS in a pre-process.
一下应该都是ADL的内容
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disjunctions:
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conjunctions:
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condition
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negated
PDDL2.1 Hierachy（5 levels）
- STRIPS/ADL：conjunction，disjunction，negated，condition
- numeric：+，-，/，*，increase，decrease
- durative action：at start, at end, over all
- continuous change
- processes and event
根据numeric和durative action，我们可以使用更加复杂的衡量函数metric
PDDL2.2
- derived predicates
- timed initial leterals
PDDL3
- hard comstraints
- preference
- state trajectory constraints
PDDL+
- temporal numeric change
- processes
- events
2 the big three planning approaches
2.1 Graph/SAT planning
planning graph
- odd layers is “state levels”
- even layers is “action levels”
S i S_i Si, A i A_i Ai每次只能执行一个action，但是全部的possible action都是要画出来的。
画图的时候，同一层同一元素可以使用多次，然后不产生影响。仅仅对同一层而言。
现在我们来执行mutex
mutex(新知识点)
- mutually exclusive
- interference: 两个动作 effect ---- precondition
- Competing need：两个动作 precondition----precondition
- inconsistent support: all ways of creating them are mutex
PG algorithm
- grow PG until all goals are reachable and none are pair wise mutex.
- if can’t search PG for a valid plan, add a level
- on one level, complete all goals, backward chain
- 选择可以实现目标的non-mutex的subset actions，把他们的precondition作为前一层的goals。
SAT planing
看不懂，76，77，78
2.2 symbolic search planing
BDDS (不懂87-90)
- binary decision diagrams
- exponentially large state sets -> polynomially sized BDDs
ordering
ordering不同会造成状态复杂度的不同
reduction
###Symbolic planning
2.3 Heuristic State-Space Search
search space
state-space 都是来回往复的directed graph，所以如何避免go round in circles
forward search
- forwards search from the initial state, with a closed list, builds a tree, only one path into each node, no backwards edges.
- closed list:states already dealt with
- Open list:states to deal with
- breadth-first & depth-first
Heuristic search planning
- 注意h，g的含义
- h越靠近目标越小，g距离初始点越远越大
properties of heuristics
- admissibility: 从s开始的所有目标达成计划的成本下限是h(s)。不会过高的估计到达目标的代价
- Consistency:
- additivity
DIJKSTRA and A*（百度）
3 heuristic 5 families
3.1 delete relaxation
3.1.1 RPG
- RPG:Relaxed planning graph
在实现目标之后，开始倒推，goal的achiever的precondition加入前面一层的goal，这样就可以知道每一层的goal，这样就是一种智能搜索。
3.2 abstraction
abstraction heuristic
是最小的cost从
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abstraction projection
pattern database PDB
- pattern就是上图中的package，truckA，我们只考虑的变量
- 每一个abstract state 到 abstract goal state的最优距离会被存储到database。
- PDB expensive in time and memory所以我们要选择好的pattern
additive PDB
SCP（不懂）
- cost partition 是把一个cost function分割成多个，使得每一个自function相加的和不大于原cost function
- zero-one是一种特殊的partition，其中<c1,c2,…,cn>每一个function对于一个特定的action返回原cost function的值，对其他action返回0
- Saturated Cost Partition
3.3 critical paths（不是重点）
3.4 landmarks
被用来做cost estimate
optimal cost partition(LP)（不考）
- linear program
3.5 network flows（不是重点）
4 temperal planning
- at start; at end; over all
4.1 snap action
- 如果在一个durative action执行的过程中，goal达成了。怎么办？
- 如果在执行的过程中，over all条件被打破了怎么办
回答：使用imply
- temperally sound and logical sound
logical sound 是指不考虑时间的情况下你得出的plan在逻辑上是行得通的，temporal sound是指还要考虑时间因素（比如deadline）
4.2 decision epoch planning(不懂)
4.3 simple temporal networks （STN）
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a STN problem is consistent iff the distance graph has no cycles.
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a negative cycle then the temporal constraints are inconsistent.
constraint
sample
shortest paths
STN with partially ordered plan(懂)
sample of snap actions and STN
4.4 timed initial literal
deadline
time window
5 heuristic guidance（211）
6 preferences
6.1 linear time logic (LTL)
PDDL->LTL
LTL->automata
automata
- PDDL3 always a best position in the further from E-Vio the better.
- E-Sat: the preference is satisfied in S and can never become unsatisfied.
compile with preference
RPG heuristic
RPG里面，h就单纯按照forgo的preference的数量来算。
distance and cost
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