Planning - Intelligent behavior

• looking ahead
• well defined set of operators
• easily determined states

"Which operator do we choose next?"

• what is the best way to get to the destination? (coordinate operators)

goal - to acquire television set you have three operators

1. steal the TV set
2. earn money for the TV
3. buy the TV

              goal: acquire TV
            /            | and \
goal: steal    goal: earn       goal: buy           
      TV             money            TV

1. Initialiaze graph to starting edge
2. Loop until starting node is solved or until cost exceeds utility

1. Traverse graph using current best path and keep track of nodes on path not solved or not expanded
2. Pick on unexpanded node

if no successor then assign futility as node value

else add node successors to graph

f(x) = y(x) + n(x)

f'(x) = f''(x) = 0

3. Update f'(?) of newly expanded node based on successor values

1. Important to make plan finding efficient
2. Good for top-level programing

How do you know when to choose a given operator / procedure?

• pre-condition
• post-condition

Frame problem - how much detail do you want to record.

• record only relevant information to task at hand (OR)
• keep track of everything