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Search Problems
A state space S
An initial state s0
Actions A(s) in each state
N -9
Transition model Result(s,a)
A goal test G(s) E -9
s has no dots left
Action cost c(s,a,s’)
+1 per step; -10 food; -500 win; +500 die; -200 eat ghost
World state:
Agent positions: 120
Food count: 30
Ghost positions: 12
Agent facing: NSEW
How many
World states?
120x(230)x(122)x4
States for pathing?
120
States for eat-all-dots?
120x(230)
State Space Graphs and Search Trees
State Space Graphs
Each NODE in in
State Space Graph the search tree is Search Tree
an entire PATH in
the state space S
a G graph. e p
d
b c
b c e h r q
e
d f a a h r p q f
S h We construct the
tree on demand – p q f q c G
p q r
and we construct as q c G a
little as possible.
a
Quiz: State Space Graphs vs. Search Trees
Consider this 4-state graph: How big is its search tree (from S)?
S G
b
Quiz: State Space Graphs vs. Search Trees
Consider this 4-state graph: How big is its search tree (from S)?
a s
a b
S G
b G a G
b a G b G
… …
Important: Those who don’t know history are doomed to repeat it!
Quiz: State Space Graphs vs. Search Trees
Main variations:
Which leaf node to expand next
Whether to check for repeated states
Data structures for frontier, expanded nodes
Systematic search
frontier
reached =
unexplored expanded U frontier
expanded
Implementation: d
e
f
Frontier is a LIFO stack S h
p q r
d e p
b c e h r q
a a h r p q f
p q f q c G
q c G a
a
Search Algorithm Properties
Search Algorithm Properties
Complete: Guaranteed to find a solution if one exists?
Optimal: Guaranteed to find the least cost path?
Time complexity?
Space complexity? b
1 node
… b nodes
Is it complete? bm nodes
m could be infinite
preventing cycles may help (more later)
Is it optimal?
No, it finds the “leftmost” solution, regardless
of depth or cost
Breadth-First Search
Breadth-First Search
Strategy: expand a a G
shallowest node first b c
Implementation: e
d f
Frontier is a FIFO queue S h
p q r
d e p
Search
b c e h r q
Tiers
a a h r p q f
p q f q c G
q c G a
a
Breadth-First Search (BFS) Properties
What nodes does BFS expand?
Processes all nodes above shallowest solution 1 node
b
Let depth of shallowest solution be s … b nodes
s tiers
Search takes time O(bs) b2 nodes
Is it complete? bm nodes
s must be finite if a solution exists, so yes!
Is it optimal?
If costs are equal (e.g., 1)
Quiz: DFS vs BFS
Quiz: DFS vs BFS
S 0
d 3 e 9 p 1
b 4 c e 5 h 17 r 11 q 16
11
Cost a 6 a h 13 r 7 p q f
contours
p q f 8 q c G
q 11 c G 10 a
a
Uniform Cost Search (UCS) Properties
What nodes does UCS expand?
Expands all nodes with cost less than cheapest solution!
b g1
If that solution costs C* and arcs cost at least , then the …
“effective depth” is roughly C*/ g2
C*/ “tiers”
Takes time O(b ) (exponential in effective depth)
C*/
g3
Is it complete?
Assuming C* is finite and > 0, yes!
Is it optimal?
Yes! (Proof next lecture via A*)
Video of Demo Maze with Deep/Shallow Water --- BFS or UCS? (part 1)
Video of Demo Maze with Deep/Shallow Water --- BFS or UCS? (part 2)
Summary
Assume known, discrete, observable, deterministic, atomic
Search problems defined by S, s0, A(s), Result(s,a), G(s), c(s,a,s’)
Search algorithms find action sequences that reach goal states
Optimal => minimum-cost
Search algorithm properties:
Depth-first: incomplete, suboptimal, space-efficient
Breadth-first: complete, (sub)optimal, space-prohibitive
Iterative deepening: complete, (sub)optimal, space-efficient
Uniform-cost: complete, optimal, space-prohibitive