In artificial intelligence, reactive planning denotes a group of techniques for action selection by autonomous agents. These techniques differ from classical planning in two aspects. First, they operate in a timely fashion and hence can cope with highly dynamic and unpredictable environments. Second, they compute just one next action in every instant, based on the current context. Reactive planners often (but not always) exploit reactive plans, which are stored structures describing the agent's priorities and behaviour. The term reactive planning goes back to at least 1988, and is synonymous with the more modern term dynamic planning.
There are several ways to represent a reactive plan. All require a basic representational unit and a means to compose these units into plans.
A condition action rule, or if-then rule, is a rule in the form: if condition then action. These rules are called productions. The meaning of the rule is as follows: if the condition holds, perform the action. The action can be either external (e.g., pick something up and move it), or internal (e.g., write a fact into the internal memory, or evaluate a new set of rules). Conditions are normally boolean and the action either can be performed, or not.
Production rules may be organized in relatively flat structures, but more often are organized into a hierarchy of some kind. For example, subsumption architecture consists of layers of interconnected behaviors, each actually a finite state machine which acts in response to an appropriate input. These layers are then organized into a simple stack, with higher layers subsuming the goals of the lower ones. Other systems may use trees, or may include special mechanisms for changing which goal / rule subset is currently most important. Flat structures are relatively easy to build, but allow only for description of simple behavior, or require immensely complicated conditions to compensate for the lacking structure.
An important part of any distributed action selection algorithms is a conflict resolution mechanism. This is a mechanism for resolving conflicts between actions proposed when more than one rules' condition holds in a given instant. The conflict can be solved for example by
Expert systems often use other simpler heuristics such as recency for selecting rules, but it is difficult to guarantee good behavior in a large system with simple approaches.
Conflict resolution is only necessary for rules that want to take mutually exclusive actions (c.f. Blumberg 1996).
Some limitations of this kind of reactive planning can be found in Brom (2005).
Finite state machine (FSM) is model of behaviour of a system. FSMs are used widely in computer science. Modeling behaviour of agents is only one of their possible applications. A typical FSM, when used for describing behaviour of an agent, consists of a set of states and transitions between these states. The transitions are actually condition action rules. In every instant, just one state of the FSM is active, and its transitions are evaluated. If a transition is taken it activates another state. That means, in general transitions are the rules in the following form: if condition then activate-new-state. But transitions can also connect to the 'self' state in some systems, to allow execution of transition actions without actually changing the state.
There are two ways of how to produce behaviour by a FSM. They depend on what is associated with the states by a designer --- they can be either 'acts', or scripts. An 'act' is an atomic action that should be performed by the agent if its FSM is the given state. This action is performed in every time step then. However, more often is the latter case. Here, every state is associated with a script, which describes a sequence of actions that the agent has to perform if its FSM is in a given state. If a transition activates a new state, the former script is simply interrupted, and the new one is started.
If a script is more complicated, it can be broken down to several scripts and a hierarchical FSM can be exploited. In such an automaton, every state can contain substates. Only the states at the atomic level are associated with a script (which is not complicated) or an atomic action.
Computationally, hierarchical FSMs are equivalent to FSMs. That means that each hierarchical FSM can be converted to a classical FSM. However, hierarchical approaches facilitate designs better. See the paper of Damian Isla (2005) for an example of ASM of computer game bots, which uses hierarchical FSMs.
Both if-then rules and FSMs can be combined with fuzzy logic. The conditions, states and actions are no more boolean or "yes/no" respectively but are approximate and smooth. Consequently, resulted behaviour will transition smoother, especially in the case of transitions between two tasks. However, evaluation of the fuzzy conditions is much slower than evaluation of their crisp counterparts.
See the architecture of Alex Champandard.
Reactive plans can be expressed also by connectionist networks like artificial neural networks or free-flow hierarchies. The basic representational unit is a unit with several input links that feed the unit with "an abstract activity" and output links that propagate the activity to following units. Each unit itself works as the activity transducer. Typically, the units are connected in a layered structure.
Positives of connectionist networks is, first, that the resulted behaviour is more smooth than behaviour produced by crisp if-then rules and FSMs, second, the networks are often adaptive, and third, mechanism of inhibition can be used and hence, behaviour can be also described proscriptively (by means of rules one can describe behaviour only prescriptively). However, the methods have also several flaws. First, for a designer, it is much more complicated to describe behaviour by a network comparing with if-then rules. Second, only relatively simple behaviour can be described, especially if adaptive feature is to be exploited.
Typical reactive planning algorithm just evaluates if-then rules or computes the state of a connectionist network. However, some algorithms have special features.
Steering is a special reactive technique used in navigation of agents. The simplest form of reactive steering is employed in Braitenberg vehicles, which map sensor inputs directly to effector outputs, and can follow or avoid. More complex systems are based on a superposition of attractive or repulsive forces that effect on the agent. This kind of steering is based on the original work on boids of Craig Reynolds. By means of steering, one can achieve a simple form of:
The advantage of steering is that it is computationally very efficient. In computer games, hundreds of NPCs can be driven by this technique. In cases of more complicated terrain (e.g. a building), however, steering must be combined with path-finding (as e.g. in Milani [1]), which is a form of planning .
No debe confundirse con Mitología islámica. Antiguo Yemen, al-jawf, estatuillas de mujeres sentadas, siglo III-I a. C. La mitología árabe comprende las creencias antiguas de los árabes. Antes de la llegada y codificación inicial del islam en la península arábiga —en el año 622 de la era cristiana, año uno del calendario islámico— el centro físico del islam, la Kaaba de la Meca, no solo contenía el único símbolo de el Dios, como lo hace ahora, sino que estaba cubierta…
Микола Федорович Закутенко Народження 22 травня 1922(1922-05-22)Андрушки, Паволоцька волость, Сквирський повіт, Київська губернія, Українська СРРСмерть 11 червня 1985(1985-06-11) (63 роки)Київ, Українська РСР, СРСРПоховання Байкове кладовищеКраїна СРСРРоки служби 1941–1972Партія КПРСЗва
2011 television film directed by Jeffrey Donovan Burn Notice: The Fall of Sam AxePromotional posterBased onBurn Noticeby Matt NixScreenplay byMatt NixStory byMatt NixGreg HartDirected byJeffrey DonovanStarringBruce CampbellKiele SanchezRonReaco LeeChandra WestJohn DiehlPedro PascalIlza RosarioJeffrey DonovanNarrated byBruce CampbellTheme music composerJohn DicksonCountry of originUnited StatesProductionProducersAaron GinsburgLorenzo O'BrienCinematographyJaime ReynosoEditorSteven LangRunning time…
Artemisia absinthium Absinthe Museum garden, Auvers-sur-Oise, FranceTumbuhanJenis buahBuah kurung TaksonomiDivisiTracheophytaSubdivisiSpermatophytesKladAngiospermaeKladmesangiospermsKladeudicotsKladcore eudicotsKladasteridsKladcampanulidsOrdoAsteralesFamiliAsteraceaeSubfamiliAsteroideaeTribusAnthemideaeSubtribusArtemisiinaeGenusArtemisiaSpesiesArtemisia absinthium Linnaeus, 1753 Tata namaSinonim takson Absinthium bipedale Gilib., not validly published Absinthium majus Geoffr.[1] Abs…
artikel ini perlu dirapikan agar memenuhi standar Wikipedia. Tidak ada alasan yang diberikan. Silakan kembangkan artikel ini semampu Anda. Merapikan artikel dapat dilakukan dengan wikifikasi atau membagi artikel ke paragraf-paragraf. Jika sudah dirapikan, silakan hapus templat ini. (Pelajari cara dan kapan saatnya untuk menghapus pesan templat ini) Shani Indira NatioLahirShani Indira Natio5 Oktober 1998 (umur 25)Kebumen, Jawa Tengah, IndonesiaNama lainShani JKT48, Ci ShaniAlmamaterUniv…
Jan van der Hoeven Algemene informatie Geboren 9 februari 1801 Geboorteplaats Rotterdam Overleden 10 maart 1868 Overlijdensplaats Leiden Land Nederland Beroep zoöloog Dbnl-profiel Portaal Biologie Jan van der Hoeven (Rotterdam, 9 februari 1801[1] – Leiden, 10 maart 1868) was een Nederlandse zoöloog. In 1826 werd hij hoogleraar in de zoölogie, mineralogie en geologie te Leiden. Zijn meest bekende boek is het Handboek der Dierkunde (1827-1833) dat vertaald is in het…
National Museum of AnthropologyMuseo Nacional de AntropologíaMuseum's main facadeInteractive fullscreen mapEstablished1875LocationMadrid, SpainCoordinates40°24′27.698″N 3°41′20.310″W / 40.40769389°N 3.68897500°W / 40.40769389; -3.68897500TypeArchaeological and ethnographicPublic transit accessAtocha stationWebsitemnantropologia.mcu.esHistoric site Spanish Cultural HeritageOfficial nameMuseo Nacional de AntropologíaTypeNon-movableCriteriaMonumentDesignated196…
يفتقر محتوى هذه المقالة إلى الاستشهاد بمصادر. فضلاً، ساهم في تطوير هذه المقالة من خلال إضافة مصادر موثوق بها. أي معلومات غير موثقة يمكن التشكيك بها وإزالتها. (مارس 2016) جزء من سلسلة مقالات سياسة اليمناليمن الدستور نظام الحكم الدستور حقوق الإنسان السلطة التنفيذية رئيس مجلس الق…
Historic site in New South Wales, AustraliaCumberland Street Archaeological SiteNumbers 120–130 Cumberland Street, The Rocks, part of the archaeological site, pictured in October 1901.Location106–128 Cumberland Street, The Rocks, City of Sydney, New South Wales, AustraliaCoordinates33°51′36″S 151°12′25″E / 33.8601°S 151.2070°E / -33.8601; 151.2070Built1795–OwnerProperty NSW New South Wales Heritage RegisterOfficial nameCumberland Street Archaeologica…
Це список відомих швейцарських турків. Зміст 1 Академія 2 Кіно і телебачення 3 Дизайн 4 Музика 5 політика 6 Релігія 7 Спорт 8 Дивіться також 9 Посилання Академія Мурат Кунт . Хатідже Алтуг - професор біоінженерії у Федеральній політехнічній школі Лозанни Мурат Кунт - вчений Несі…
بانابا معلومات جغرافية الإحداثيات 0°51′34″S 169°32′13″E / 0.85944444444444°S 169.53694444444°E / -0.85944444444444; 169.53694444444 المسطح المائي المحيط الهادئ المساحة 6 كيلومتر مربع الطول 3.5 كيلومتر أعلى ارتفاع (م) 81 متر الحكومة البلد كيريباتي التقسيم الإداري جزر غيلبرت…
Artikel ini tidak memiliki referensi atau sumber tepercaya sehingga isinya tidak bisa dipastikan. Tolong bantu perbaiki artikel ini dengan menambahkan referensi yang layak. Tulisan tanpa sumber dapat dipertanyakan dan dihapus sewaktu-waktu.Cari sumber: Bena Baru, Sambaliung, Berau – berita · surat kabar · buku · cendekiawan · JSTOR Bena BaruKampungNegara IndonesiaProvinsiKalimantan TimurKabupatenBerauKecamatanSambaliungKode Kemendagri64.03.03.2015 Lu…
Genus of viruses Thogotovirus Electron micrograph of Bourbon virus (scale bar: 100 nm) Virus classification (unranked): Virus Realm: Riboviria Kingdom: Orthornavirae Phylum: Negarnaviricota Class: Insthoviricetes Order: Articulavirales Family: Orthomyxoviridae Genus: Thogotovirus Species Dhori thogotovirus Thogoto thogotovirus Synonyms[1] Thogoto-like viruses Thogotovirus is a genus of enveloped RNA viruses, one of seven genera in the virus family Orthomyxoviridae. Their single-stra…
No se debe confundir con su contemporáneo Francisco Dávila y Guzmán, marqués de Loriana. Francisco Dávila y Guzmán Cardenal de la Santa Cruz de Jerusalén 1599-1606Predecesor Alberto de AustriaSucesor Ascanio Colonna Cardenal de San Silvestre en Capite 1597-1599Predecesor Pietro de GondiSucesor Franz von Dietrichstein Comisario general de cruzada 1589-1596Predecesor Pedro PortocarreroSucesor Juan de Zúñiga y FloresInformación personalNombre Francisco Dávila y GuzmánNacimiento 1548Espa…
American feminist and doctor (1832–1919) Mary Edwards WalkerWalker with her Medal of Honor, photographed by C. M. BellBorn(1832-11-26)November 26, 1832Oswego, New York, U.S.DiedFebruary 21, 1919(1919-02-21) (aged 86)Oswego, New York, U.S.Resting placeRural cemetery, OswegoEducationFalley Seminary (1850–1852)Syracuse Medical College (1853–1855)Hygeio-Therapeutic College (1862)OccupationSurgeonEmployerUnited States ArmyKnown forReceiving the Medal of Honor during the American Civil…
Hotel Baur au Lac, Zürich, tempat penangkapan tujuh pejabat FIFA pada tanggal 27 Mei 2015 Empat belas orang, termasuk sembilan orang yang terkait dengan badan sepak bola dunia, FIFA, didakwa[1] pada bulan Mei 2015 sehubungan dengan kasus penipuan transfer, pemerasan, dan pencucian uang yang sedang diselidiki Biro Investigasi Federal (FBI) Amerika Serikat. Tujuh pejabat FIFA ditangkap di Hotel Baur au Lac, Zürich, pada tanggal 27 Mei. Mereka saat itu sedang bersiap-siap menghadiri Kongr…
Yoko Higuchi-Zitzmann (2018) Yoko Higuchi-Zitzmann (japanisch 洋子・樋口=ツィッツマン, 樋口洋子; * 31. Mai 1971 in Hyōgo, Japan) ist eine deutsch-japanische Filmproduzentin. Inhaltsverzeichnis 1 Leben 2 Filmografie (Auswahl) 3 Weblinks 4 Einzelnachweise Leben Higuchi-Zitzmann studierte als Stipendiatin der Studienstiftung des deutschen Volkes Rechtswissenschaften in Bonn, Lausanne und an der Ludwig-Maximilians-Universität in München. 1999 begann sie ihre berufliche Laufbahn a…
Fliegerhorst Ingolstadt/Manching Ingolstadt/Manching (Bayern) Ingolstadt/Manching Kenndaten ICAO-Code ETSI IATA-Code IGS Flugplatztyp MilitärflugplatzVerkehrsflughafen Koordinaten 48° 42′ 56″ N, 11° 32′ 1″ O48.7156311.5337366.7Koordinaten: 48° 42′ 56″ N, 11° 32′ 1″ O Höhe über MSL 366,7 m (1.203 ft) Verkehrsanbindung Entfernung vom Stadtzentrum 8 km südöstlich von Ingolstadt Straße Bas…
American actress (born 1964) Marisa TomeiTomei at the 2023 Berlin International Film FestivalBorn (1964-12-04) December 4, 1964 (age 59)New York City, U.S.EducationBoston UniversityOccupationActressYears active1983–presentWorksFull listPartnerLogan Marshall-Green (2008–2012)AwardsFull list Marisa Tomei (/toʊˈmeɪ/ toh-MAY, Italian: [toˈmɛi]; born December 4, 1964)[1] is an American actress. Her early appearances were in the soap opera As the World Turns (1983–…
Group CaptainPennant of Group CaptainRank insignia of a group captain of the Indian Air ForceCountry IndiaService branch Indian Air ForceAbbreviationGp CaptG/CRankGroup captainNext higher rankAir CommodoreNext lower rankWing commanderEquivalent ranksColonel (Indian Army)Captain (Indian Navy) Group Captain is a rank in the Indian Air Force. Group Captain ranks above the rank of Wing commander and lower than an Air Commodore. It is equivalent to colonel in the Indian Army and captain in …
Lokasi Pengunjung: 3.138.113.68