Authors:
Incheol Kim
and
Hyunsik Kim
Affiliation:
Kyonggi University, Korea, Republic of
Keyword(s):
Contingent planning, Partial initial condition, Nondeterministic actions, Belief states, Heuristic search.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Formal Methods
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Planning and Scheduling
;
Simulation and Modeling
;
State Space Search
;
Symbolic Systems
Abstract:
In this paper, we present a new heuristic search algorithm for solving contingent planning problems with the partial initial condition and nondeterministic actions. The algorithm efficiently searches through a cyclic AND-OR graph with dynamic updates of heuristic values, and generates a contingent plan that is guaranteed to achieve the goal despite of the uncertainty in the initial state and the uncertain effects of actions. Through several experiments, we demonstrate the efficiency of this algorithm.