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41	New Heuristics for Planning with Action Costs Keyder, Emil Ragip 17 December 2010 (has links) Classical planning is the problem of nding a sequence of actions that take an agent from an initial state to a desired goal situation, assuming deter- ministic outcomes for actions and perfect information. Satis cing planning seeks to quickly nd low-cost solutions with no guarantees of optimality. The most e ective approach for satis cing planning has proved to be heuristic search using non-admissible heuristics. In this thesis, we introduce several such heuristics that are able to take into account costs on actions, and there- fore try to minimize the more general metric of cost, rather than length, of plans, and investigate their properties and performance. In addition, we show how the problem of planning with soft goals can be compiled into a classical planning problem with costs, a setting in which cost-sensitive heuristics such as those presented here are essential. / La plani caci on cl asica es el problema que consiste en hallar una secuencia de acciones que lleven a un agente desde un estado inicial a un objetivo, asum- iendo resultados determin sticos e informaci on completa. La plani caci on \satis cing" busca encontrar una soluci on de bajo coste, sin garant as de op- timalidad. La b usqueda heur stica guiada por heur sticas no admisibles es el enfoque que ha tenido mas exito. Esta tesis presenta varias heur sticas de ese g enero que consideran costes en las acciones, y por lo tanto encuentran soluciones que minimizan el coste, en lugar de la longitud del plan. Adem as, demostramos que el problema de plani caci on con \soft goals", u objetivos opcionales, se puede reducir a un problema de plani caci on clasica con costes en las acciones, escenario en el que heur sticas sensibles a costes, tal como las aqu presentadas, son esenciales. unfolded hyperpath STRIPS Steiner tree soft goal compilation set-additive heuristic soft goal search satisficing planning relaxed plan heuristic relaxed plan relaxation recursive conditioning planning domain planning landmark optimal planning oversubscription independence independence assumption inference landmark heuristic hypergraph heuristic heuristic search graph dtree delete relaxation cost constraint satisfaction conjunctive landmark classical planning complexity choice variable Bayesian network additive heuristic algorithm AND/OR graph action cost 62

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New Heuristics for Planning with Action Costs