Mychapter 3 A
Mychapter 3 A
Mychapter 3 A
CHAPTER 4
Oliver Schulte
Summer 2011
Outline
Best-first search
A* search
Heuristics
Local search algorithms
Hill-climbing search
Simulated annealing search
Local beam search
Environment Type Discussed In this Lecture
3
Fully
Observable Static Environment
yes
Deterministic
yes
Sequential
yes no
Discrete no
yes Discrete
no
yes
Planning, Control, Vector Search: Continuous Function
heuristic cybernetics Constraint Optimization
search Satisfaction
CMPT 310 - Blind Search
Review: Tree search
Implementation:
Order the nodes in frontier in decreasing order of
desirability
Special cases:
greedy best-first search
A* search
Romania with step costs in km
Greedy best-first search
Evaluation function
f(n) = h(n) (heuristic)
= estimate of cost from n to goal
http://aispace.org/search/
Properties of greedy best-first search
http://aispace.org/search/
Suppose some suboptimal goal path G has been generated and is in the
2
frontier. Let n be an unexpanded node in the frontier such that n is on a
shortest path to an optimal goal G.
Optimality of A* (proof)
Consistent heuristics
A heuristic is consistent if for every node n, every successor n' of n generated by
any action a,
If h is consistent, we have
f(n') = g(n') + h(n') = g(n) + c(n,a,n') + h(n')
≥ g(n) + h(n) = f(n)
i.e., f(n) is non-decreasing along any path.
Theorem: If h(n) is consistent, A* using GRAPH-SEARCH is optimal
Optimality of A*
Properties of A*
h (S) = ?
1
h (S) = ?
2
Admissible heuristics
h (S) = ? 8
1
h (S) = ? 3+1+2+2+2+3+3+2 = 18
2
Dominance