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ÇѱÛÁ¦¸ñ(Korean Title) |
ºÎºÐÀûÀ¸·Î °üÃø°¡´ÉÇÏ°í ºñ°áÁ¤ÀûÀÎ °èȹ¹®Á¦¸¦ Ç®±â À§ÇÑ ÈÞ¸®½ºÆ½ Ž»ö ¾Ë°í¸®Áò |
¿µ¹®Á¦¸ñ(English Title) |
A Heuristic Search Algorithm for Solving Partially-Observable, Non-Deterministic Planning Problems |
ÀúÀÚ(Author) |
±èÇö½Ä
¹ÚÂù¿µ
±èÀÎö
Hyunsik Kim
Chanyoung Park
Incheol Kim
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¿ø¹®¼ö·Ïó(Citation) |
VOL 15 NO. 10 PP. 0786 ~ 0790 (2009. 10) |
Çѱ۳»¿ë (Korean Abstract) |
º» ³í¹®¿¡¼´Â ºÒ¿ÏÀüÇÑ Àνİú ºñ°áÁ¤Àû µ¿ÀÛÀ» ÇÔ²² Æ÷ÇÔÇÑ Á¶°ÇºÎ °èȹ¹®Á¦¸¦ Ç®±â À§ÇÑ »õ·Î¿î ÈÞ¸®½ºÆ½ Ž»ö ¾Ë°í¸®Áò HSCP¸¦ ¼Ò°³ÇÑ´Ù. HSCP Ž»ö ¾Ë°í¸®ÁòÀº ÇϳªÀÇ ¿ÏÀüÇÑ ÇØ ±×·¡ÇÁ°¡ ±¸ÇØÁú ¶§±îÁö AND-OR Ž»ö½Ãµµ¸¦ ¹Ýº¹ÇÑ´Ù. HSCP ¾Ë°í¸®ÁòÀÇ AND-OR Ž»ö½Ãµµ´Â, ±âÁ¸ÀÇ ÈÞ¸®½ºÆ½ AND-OR Ž»ö ¾Ë°í¸®ÁòµéÀÎ AO*³ª LAO*¿Í´Â ´Þ¸®, ¿ÀÁ÷ ÇϳªÀÇ Èĺ¸ ÇØ ±×·¡ÇÁ¸¦ È®ÀåÇϴµ¥ ÁýÁßÇÑ´Ù. ¶ÇÇÑ, ½Ç½Ã°£ µ¿Àû ÇÁ·Î±×·¡¹Ö ¾Ë°í¸®ÁòµéÀÎ RTDP¿Í LRTDP¿Í´Â ´Þ¸®, ¸ðµç »óŵéÀÇ °¡Ä¡ Æò°¡Ä¡°¡ ¼ö·ÅÇÒ ¶§±îÁö ¹Ì·çÁö ¾Ê°í ¹Ù·Î Çظ¦ ±¸ÇÑ´Ù. µû¶ó¼ HSCP Ž»ö ¾Ë°í¸®ÁòÀº ¾çÁúÀÇ Á¶°ÇºÎ °èȹÀ» ¸Å¿ì È¿À²ÀûÀ¸·Î ±¸ÇØÁÙ ¼ö ÀÖ´Ù´Â ÀåÁ¡ÀÌ ÀÖ´Ù.
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¿µ¹®³»¿ë (English Abstract) |
In this paper, we present a new heuristic search algorithm, HSCP, that can solve conditional/contingent planning problems with nondeterministic actions as well as partial observations. The algorithm repeats its AND-OR search trials until a complete solution graph can be found. However, unlike existing heuristic AND-OR search algorithms such as AO* and LAO*, the AND-OR search trial conducted by HSCP concentrates on only a single candidate of solution subgraphs to expand it into a complete solution graph. Moreover, unlike real-time dynamic programming algorithms such as RTDP and LRTDP, the AND-OR search trial of HSCP finds a solution immediately when it possible without delaying it until the estimated value of every state converges. Therefore, the HSCP search algorithm has the advantage that it can find a sub-optimal conditional plan very efficiently. |
Å°¿öµå(Keyword) |
Á¶°ÇºÎ °èȹ¹®Á¦
ÈÞ¸®½ºÆ½ Ž»ö
¹ÏÀ½ »óÅÂ
Conditional Planning Problem
Heuristic Search
Belief State
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