PowerPoint Presentation
Optimal Planning
(Tutorial)
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FACULTY OF NATURAL & MATHEMATICAL SCIENCES
DEPARTMENT OF INFORMATICS
Task #1: Logistics
Consider the problem we have previously seen in the Logistics domain (right) as well as the landmarks we have established for this problem.
Initial State:
(at t D) (at p E) (at o B)
Goal State:
If we explore the state space from sinit what are the heuristic values for each state using LM-Count?
FACULTY OF NATURAL & MATHEMATICAL SCIENCES
DEPARTMENT OF INFORMATICS
Gripper Domain
Simple Gripper Domain Example
One robot (with two grippers), two rooms, two boxes (b1, b2).
Goal: B1 and B2 in Location B
Using this example, consider the following…
FACULTY OF NATURAL & MATHEMATICAL SCIENCES
DEPARTMENT OF INFORMATICS
Gripper Domain
Using this example, consider the following…
What are the invariants of a SAS+ translation of this problem?
What does the DTG look like for the robot and either box?
What does the abstracted state space look like for…
The robot?
FACULTY OF NATURAL & MATHEMATICAL SCIENCES
DEPARTMENT OF INFORMATICS
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