PPT-Continuously Informed Heuristic A* - Optimal path retrieval inside an

unknown environment Athanasios Ch Kapoutsis Christina M Malliou Savvas A Chatzichristofis and Elias B Kosmatopoulos School of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece. Feedback: Tutorial 1. Describing a state.. Entire state space vs. incremental development.. Elimination of children.. Closed and the solution path.. Generation of children – effects on search.. Heuristic Search. Idea: give the algorithm “hints” about the desirability of different states . Use an . evaluation function. . to rank nodes and select the most promising one for expansion. Greedy best-first search. Initialize. . the . frontier . using the . starting state. While the frontier is not empty. Choose a frontier node to expand according to . search strategy . and take it off the frontier. If the node contains the . cont. ) & CSP Intro. Tamara Berg. CS 560 Artificial Intelligence. Many slides throughout the course adapted from Dan Klein, Stuart Russell, Andrew Moore, Svetlana . Lazebnik. , Percy Liang, Luke . Initialize. . the . frontier . using the . starting state. While the frontier is not empty. Choose a frontier node to expand according to . search strategy . and take it off the frontier. If the node contains the . Intelligence for Problem Solving. Lecture#4. Informed Search. Content. Informed search. The Best-First Search family. Greedy. best-first search. A*. search. evaluation function. heuristic function. Problems. CSD 15-780: Graduate Artificial Intelligence. Instructors: . Zico. . Kolter. and Zack Rubinstein. TA: Vittorio . Perera. 2. Example of a search tree. . 3. How to Improve Search?. Avoid repeated states.. . the . frontier . using the . starting state. While the frontier is not empty. Choose a frontier node to expand according to . search strategy . and take it off the frontier. If the node contains the . . the . frontier . using the . starting state. While the frontier is not empty. Choose a frontier node to expand according to . search strategy . and take it off the frontier. If the node contains the . . the . frontier . using the . starting state. While the frontier is not empty. Choose a frontier node to expand according to . search strategy . and take it off the frontier. If the node contains the . Armin Hornung, Daniel Maier, Maren Bennewitz. Presentation by Dominique Gordon. Introduction. Humanoid Robots vs. Wheeled Robots. Step over obstacles. Many degrees of freedom. Not yet feasible to plan whole body motions in real world. Continued. Before we continue. Breadth-First. Depth-First. Uniform Cost. Iterative-Deepening. Before we continue. Breadth-First. S,A,B,D,C,G. Depth-First. S,A,C,D,B,G. Uniform Cost. S,A,B,D,C,G. Iterative-Deepening. 1 Informed (Heuristic) Search Idea: be smart about what paths to try. 2 Blind Search vs. Informed Search What’s the difference? How do we formally specify this? A node is selected for expansion based on an evaluation function that estimates cost to goal. Continued. Before We Start. HW1 extended to Monday. Submit online (now working) and bring paper print out. Questions?. Competency Demo next Wednesday. Study Guide Posted. We will have some discussion time on Monday.