Tr Tu Nhn To

Nguyn Nht Quang

quangnn-fit@mail.hut.edu.vn
Vin Cng ngh Thng tin v Truyn thng
Trng i hc Bch Khoa H Ni
Nm hc 2009-2010

Ni dung mn hc:

Gii thiu v Tr tu nhn to

Tc t

Gii quyt vn : Tm kim, Tha mn rng buc

Logic v suy din

Biu din tri thc

S din
Suy
di vi
i ttrii th
thc khng
kh chc
h chn
h

Hc my

Lp k
hoch

Tr Tu Nhn To

Lp k hoch ca con ngi (1)

Hnh ng m khng c k hoch (r rng)

i
vi cc mc tiu gn
(tc th)

i vi cc hnh ng (hot ng) c hun luyn (tp

luyn) k

V d: Bt my tnh ln

V d: Li xe -t

Khi mt qu trnh hnh ng c th c thay i thoi mi

V d: i mua sm siu th

Tr Tu Nhn To

Lp k hoch ca con ngi (2)

Hnh ng theo k hoch

Khi gii quyt mt tnh hung mi Vd: Chuyn nh (n mt ni

mi)
i vi cc nhim v (cng vic) phc tp Vd: Xy dng k
hoch hc tp cho mt hc k
Khi mi trng hot ng c cha nguy c ri ro/chi ph cao
Vd: Qun l nh my nng lng ht nhn
Khi cn hot ng cng tc vi nhng ngi khc Vd: Xy
dng mt ngi nh

Con ngi thng ch lp k hoch khi thc s cn thit

Bi v vic lp k hoch l phc tp v tn thi gian (chi ph vs.

li ch)
Con ngi thng ch cn cc k hoch tt hn l ti u
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Lp
p k hoch

ca my
y tnh

Lp k hoch (Planning) ca my tnh

L qu trnh tnh ton ca my tnh la chn v t chc cc

hnh ng, da trn d on (trc) cc kt qu ca cc hnh
ng
Nhm mc ch t c mt s mc tiu (objectives) xc nh

Lp k hoch ti u: t c cc mc tiu mt cch ti u nht

Cc kiu bi ton lp
p k hoch

Vi cc rng buc v thi gian (Time constraints)

Vi cc rng buc v thi gian v ti nguyn (Time and resource
constraints) Bi ton lp lch (Scheduling)
Vi cc rng buc v thi gian v ti nguyn, cc iu kin p
dng (applicability conditions) ca cc hnh ng, v cc tc
ng (effects) ca cc hnh ng i vi trng thi ca bi ton
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M hnh khi nim

M hnh khi nim (Conceptual model) cho bi ton lp

k hoch c biu din bng mt h chuyn trng thi

Mt h chuyn trng thi (State-transition system)

c biu din bi 4 thnh phn: = (S,A,E,)

S={s1,s2,}: Tp hu hn cc trng thi (states) c th ca bi

ton
A={a1,a2,}: Tp hu hn cc hnh ng (actions) c th c
thc hin
E {e1,ee2,}:
E={e
}: Tp hu hn cc s kin (events) c th xy ra trong
qu trnh thc hin k hoch
: SAES: Hm chuyn trng thi (a state-transition function)
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Biu din bng

g th

Mt h chuyn trng thi = (S, A, E,) c th c biu

din bng mt th c nhn v c hng (a directed
labelled graph) G = (NG, EG), trong :

Mi nt biu din mt trng thi trong tp S

Tc l: NGS
Mi cnh lin kt t s n s (s, sNG) c nhn l (a,e) vi aA,
eE
Tc l: Mt cnh (s,(a,e),s)EG, nu v ch nu s(s,a,e)

Tr Tu Nhn To

Biu din bng

g th V d

Cc trng thi S: s0s5 (ph thuc vo cc i tng: r-bt, cn trc, thng hng, )
Cc hnh ng A: cn trc nhc (t) thng hng khi (ln) tm nng, r-bt di
chuyn
y g
gia 2 v tr, cn trc nhc ((t)) thng
g hng
g khi ((ln)) r-bt
Khng c s kin E =

s0

crane

move1

cont.
pallet
location1

location2

take

put

move2

location1

location2

take

s1

move1

cont.

put

pallet

cont.
robot

location1

location2

move1

s3

crane

s5

crane
load

move2

s4

cont.

pallet

pallet
robot

robot

pallet
cont.
robot

move2
location1

crane

cont.
pallet
robot

robot

crane

s2

crane

location2

location1

location2

unload

location1

location2

(http://www.inf.ed.ac.uk/teaching/courses/plan/)
Tr Tu Nhn To

H
chuyn
y
trng
g thi

Chuyn trng thi: (s,a,e)

S
kin
trung
g tnh (neutral
(
event),
), c
k hiu
l ,, c

dng biu din i vi cc chuyn trng thi gy nn bi

ch cc hnh ng

Hnh ng trung tnh (neutral action), c k hiu l noop c dng biu din i vi cc chuyn trng thi gy
op,
nn bi ch cc s kin

Chuyn trng thi (s,a,),

(s a ) vi sS,
sS aA: c k hiu (ngn gn)
bng (s,a)

Chuyn trng thi (s,no-op,e) , vi sS, eE : c k hiu

(ngn gn) bng (s,e)
( )

Trong biu din bng th

Nhn (a,) c k hiu ngn gn bng a

Nhn (no-op,e) c k hiu ngn gn bng e
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Cc hnh ng vs. Cc s kin

C hnh ng (action) v s kin (event) u nh hng n

s tin trin ca mt h chuyn trng thi

Cc hnh ng: Th hin cc chuyn trng thi c iu

khin bi b thc hin k hoch (plan executor)

Nu hnh ng aA
A v (s,
( a, )) ,
th a c gi l c th p
dng c i vi trng thi s
p dng hnh ng a trng thi s s lm h thng chuyn n
trng thi s
(s,
( a))

Cc s kin: Th hin cc chuyn trng thi xy ra ngu

nhin

Nu s kin eE v (s, no-op, e) , th e c gi l c th

xy ra i vi trng thi s
S xut hin (xy ra) s kin e trng thi s s lm h thng
chuyn n trng thi s (s, e)
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10

K hoch

v Mc
tiu

K hoch (Plan): L mt cu trc (chui c th t) cc

hnh ng ph hp cn thc hin t c mt mc
tiu t mt trng thi ban u

Cc kiu mc tiu (Objective)

Trng thi ch (goal state), hoc mt tp cc trng thi ch

Tha mn mt tp cc iu kin (conditions) i vi chui cc
trng thi duyt qua
Ti u ha mt hm tin ch (utility function) c nh ngha i
vi
i cc
ttrng thi d
duyt
t qua
Mt nhim v (task) cn hon thnh

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11

Lp
p k hoch

v thc
hin

B lp k hoch (Planner)

Trng
thi u
Mc tiu

u vo: K hoch cn thc hin, trng

thi hin thi (thng qua hm quan st
: SO,
S O vi
i O l t
tp cc
quan st
t c
th)
u ra: Hnh ng (tip theo) cn thc
hin

H chuyn
trng thi (Statetransition system)

Tin trin ty thuc vo cc hnh ng

c
thc
th hin
hi v
cc
s kin
ki xy
ra
Tr Tu Nhn To

M t ca
Planner
K hoch
h
h

B iu khin (Controller)

u vo: M t ca h chuyn trng

thi
hi , trng thi
hi
u, mc tiu
i
u ra: K hoch t c mc tiu

Controller
Quan st

Hnh ng
System
S kin

(http://www.inf.ed.ac.uk/teaching/
(http://www
inf ed ac uk/teaching/
courses/plan/)
12

Lp
p k hoch

ng
g ((1))

Vn : Th gii thc t c th
khc vi m hnh c
biu din
bi

S khc bit ny cn phi c

x l bi b iu khin (Controller)

M hnh thc t: Kt hp an
xen gia lp k hoch v thc
hin

Gim st k hoch (Plan

supervision):
p
) p
pht hin
nhng
g
khi kt qu quan st c khc
vi mong mun

Trng
thi u
Mc tiu

M t ca
Planner

K hoch
h
h
Tnh trng thc
hin
Controller
Quan st

Hnh ng
System
S kin

(http://www.inf.ed.ac.uk/teaching/
(http://www
inf ed ac uk/teaching/
courses/plan/)
Tr Tu Nhn To

13

Lp
p k hoch

ng
g ((2))

M t ca

Sa li k hoch (Plan revision):

Trng
thay i thch nghi k hoch (
thi u
Planner
lp) theo nhng tnh hung mi
Mc tiu
Lp li k hoch (Re-planning):
(Re planning):
K hoch
h
h
Tnh
trng
thc
sinh ra k hoch mi t trng thi
hin
hin thi (hoc t trng thi u)
Controller

Lp k
hoch ng (Dynamic
planning): Qu trnh lp li gia
b lp k hoch v b iu khin
thc hin

Ty thuc tnh trng ca vic thc

hin k hoch
Tr Tu Nhn To

Quan st

Hnh ng
System
S kin

(http://www.inf.ed.ac.uk/teaching/
(http://www
inf ed ac uk/teaching/
courses/plan/)
14

Gi thit A0: Tp cc trng thi

Gi thit A0: Tp cc trng thi (trong biu din ca )

l hu hn

Ni lng iu kin ca gi thit A0

biu din cc hnh ng to nn (lm xut hin) cc i

tng mi ca bi ton
cho php lm vic vi cc bin trng thi kiu s (numericalvalued state variables) ch khng ch vi cc bin trng thi
kiu nh danh (nominal-valued state variables)

Vn gp p
phi khi ni lng
g iu kin
ca g
gi thit A0

Kh nng quyt nh c (decidability) v kh nng kt thc

(termination) ca cc b lp k hoch s khng c bo m

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15

Gi thit A1: Q
Quan st y
y

Gi thit A1: H thng c th quan st c y (fully observable)

Ni lng iu kin ca gi thit A1

Planner v Controller c tri thc (quan st) y v trng thi ca th gii

xung quanh
h
Hm quan st cho php xc nh chnh xc trng thi tng ng vi
quan st
lm vic vi cc trng thi m trong cc kha cnh (ca mt trng
thi) khng c quan st (nhn bit) y
V d: Trong bi ton lp k
hoch l trnh c th
xy ra tc
ng, th
trng thi ca bi ton l khng th nhn bit (quan st) c y

Cc vn gp phi khi ni lng iu kin ca gi thit A1

Vi hm quan st : (s)=o, th -1(o) thng s tr v nhiu hn mt trng

thi c th vn nhp nhng
Cc quan st khng hon ton xc nh c trng thi hin ti
Lm sao xc nh trng thi tip theo l g?
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16

Gi thit A2: Chuyn trng thi

Gi thit A2: Kt qu ca mi chuyn trng thi l mt trng

thi xc nh
(duy
( y nht))

Ni lng iu
kin ca gi thit
A2

Vi trng thi sS, hnh ng aA, v s kin eE, th khng th

xy ra (s,a,e)={s, s} (vi s, s l 2 trng thi khc nhau)

lp k hoch cho cc bi ton m trong vic thc hin mt

hnh ng c th a n cc kt qu khc nhau

Cc vn gp phi khi ni lng iu kin ca gi thit A2

Controller phi quan st c cc kt qu thc t ca mt hnh

ng
K hoch c xy dng c th bao gm thm cc thnh phn
x l vi cc hnh ng c nhiu kt qu
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17

Gi thit A3: Cc s
kin

Gi thit A3: H thng l tnh, khng c cc s kin

(ngu nhin) xy ra (E=)
(E )

Ni lng iu kin ca gi thit A3

= (S,A,,); hay biu din ngn gn l: (S,A,)

biu din (m hnh ha) cc bi ton lp k hoch trong c

xy ra cc s kin ngu nhin

Vn gp phi khi ni lng iu kin ca gi thit A3

i vi Planner, th mi trng hot ng ca h thng tr nn

khng xc nh

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18

Gi thit A4: Mc tiu hn ch

Gi thit A4: Planner lm vic vi mt trng thi ch,

hoc vi mt tp cc trng thi ch

Ni lng iu kin ca gi thit A4

lp k hoch cho cc bi ton m trong mc tiu c biu

din bng:
cc rng buc i vi cc trng thi v k hoch, hoc
hm tin ch
ch, hoc
nhim v c th

Vn gp phi khi ni lng iu kin ca gi thit A4

Lm th no biu din v suy din i vi cc rng buc, cc

hm tin ch, v cc nhim v?

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19

Gi thit A5: Chui hnh ng

Gi thit A5: Mt k hoch c xy dng l mt chui hu

hn
c th t
ca cc hnh ng
g c
thc
hin
lin tip
p nhau

Ni lng iu kin ca gi thit A5

lp k hoch cho cc bi ton trong c xy ra cc s kin

ngu nhin (Xem gi thit A3)
to nn cc kiu k hoch khc nhau (k hoch c iu kin r
nhnh, k hoch trong c nhng phn m cc hnh ng c
thc hin khng theo th t,)

Cc vn gp phi khi ni lng iu kin ca gi thit A5

Khng c to thm cng vic (yu cu)

i
vi Controller
Suy din vi cc cu trc d liu phc tp hn

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20

Gi thit A6: Thi gian

g

Gi thit A6: Trong h chuyn trng thi , cc hnh ng v

cc s kin khng c khong thi gian xy ra

Ni lng iu kin ca gi thit A6

Cc chuyn trng thi xy ra tc th khng c biu din r rng

v thi gian
lm vic vi cc hnh ng thc hin trong mt khong thi
gian, cc hnh ng xy ra ng thi, v cc thi hn hon thnh
(deadines)

Cc vn gp phi khi ni lng iu kin ca gi thit A6

Biu din v suy

y din v thi gian
g
((do cc k hoch
cha cc
thng tin v thi gian)
Controller phi i cho n khi c c kt qu (tc ng) ca
cc hnh ng
g ((v mi hnh ng
g xyy ra trong
g mt
khong
g thi
gian, ch khng tc thi)
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21

M hnh g
gii hn

M hnh gii hn (restricted model) s t ra tt c cc

trong
g7g
gi thit nu trn ((A0-A6))
iu kin

Biu
din
hnh thc ca bi ton lp k
hoch P=(,si,Sg)

M hnh gii hn c s dng trong lp k hoch c in

(classical planning)

= (S,A,): l h chuyn trng thi

siS: l trng thi u
Sg S: l tp cc trng thi ch

Yu cu: Tm mt
chui cc hnh ng
g a1,,a2,,,a
, k,
tng ng vi mt chui cc chuyn trng thi
si,s1,,sk, sao cho: s1= (si,a1), s2= (s1,a2), , sk= (skak),
) and skSg
1,a
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22

V d:
R-bt bc d hng
g

Bi ton lp k hoch cho rbt bc d hng mt cu

cng

Mt cu cng vi mt s v tr
(cho vic cp bn, cc con tu
cn bc d hng, cc nh kho,
cc ni xe ti,)

Cc thng hng (containers)

cn c bc ln/d xung
tu hng (hoc kho hng)

(M. Ghallab, ESSLLI 2002)

R-bt
v cn
trc (crane) di
chuyn cc thng hng
bc/d hng ln/xung tu
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23

Cc i tng
g ((1))

Cc v tr locations {loc1, loc2, }

Cc r-bt bc d hng
g robots {{robot1,, robot2,, }}

Nh kho,
kho cc ch neo u tu
tu, tu c bc d hng
hng, hay ni
xe ti

Cc r-bt (xe di chuyn thng hng)

Cc r-bt c th di chuyn gia cc v tr gn k
Ti mi v tr (location)
(location), ch c ti a 1 r
r-bt
bt ang lm vic

Cc cn trc bc d hng cranes {crane1, crane2, }

Mi cn trc gn (c nh) vi mt v tr nht nh

Di chuyn cc thng hng gia cc r-bt v cc cc hng (piles)
- thuc cng mt v tr (the same location)

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24

Cc i tng
g ((2))

Cc cc hng piles {pile1, pile2, }

Cc thng hng containers {cont1, cont2, }

Mi cc hng nm (thuc v) mt v tr nht nh

Tm nng hng (pallet) nm di y ca cc cc hng trn
mt tm nng hng c th c cc thng hng

c xp trong mt cc hng nm trn mt tm nng hng

c t trn r
r-bt,
bt hoc nm (gi) bi cn trc

Tm nng hng pallet

c t di y ca mt cc hng
Ch cn mt k hiu duy nht (pallet), v mi tm nng c xc
nh (gn vi) mt cc hng

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25

Cc q
quan h
c nh

Cc quan h c nh (topology) l cc quan h khng

thay i theo thi gian

Quan h adjacent(l,l)
V tr l l gn k vi v tr l
l

Quan h attached(p,l)
Cc hng p thuc v (gn vi) v tr l

Quan h belong(k,l)
Cn
C trc
t
k lm
l vic
i (gn
( vi)
i) v ttr l

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26

Cc quan h c th thay i (1)

Quan h occupied(l)

V tr l hin ti c mt r
r-bt
bt ang lm vic

Lu : Mi v tr ch c ti a 1 r-bt ang lm vic

Quan h at(r,l)

Quan h
Q
loaded(r,c)
( , )

R-bt r ang lm vic v tr l

R-bt r hin ang ch thng hng c

Quan h
unloaded(r)
( )

R-bt hin ang khng ch thng hng no c

Lu : loaded(r,c) c ngha l not unloaded(r)

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27

Cc quan h c th thay i (2)

Quan h holding(k,c)

Quan h empty(k)

Thng hng c hin ti ang trong cc hng p

Quan h on(c,c)

Cn trc k hin ti khng gi bt k thng hng no

Quan h in(c,p)

Cn trc k hin ti ang gi thng hng c

Thng hng c hin ti ang nm trn cc hng/tm nng c

Quan h top(c,p)

Thng hng/tm nng c hin ti ang nm trn nh ca cc hng

p
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28

Cc hnh ng
g

Hnh ng move(r,l,l)

Hnh ng take(c,k,p)

Ti cng v tr l: cn trc k t thng hng c ln nh ca cc hng p

Hnh ng load(r,c,k)

Ti cng v tr l: cn trc k (hin khng gi thng hng no) ly thng

hng c khi cc hng p

Hnh ng put(c,k,p)

R-bt r di chuyn t v tr l n v tr l (khng c r-bt khc ang

lm vic l)

Ti cng v tr l: cn trc k t thng hng c vo r-bt r (hin khng

gi thng hng no)

Hnh ng unload(r,c,k)

Ti cng v tr l: cn trc k (hin khng gi thng hng no) ly thng

hng c khi r-bt r
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29

Cc ng
g dng
g thc
t

Cc kt qu nghin cu ca lnh vc Lp k hoch

(planning) c p dng thnh cng trong nhiu bi
ton thc t

Khng gian v tr, Hng khng, ng st

R-bt v lp k hoch di chuyn

CAD/CAM

Lp k hoch gii quyt cc tnh hung khn cp

iu khin cc qu trnh cng nghip

Cc tr chi (games)

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