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HPOOPIKH

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ATPA 2001




HPOOPIKH

EAPMOE HPOOPIKH
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EPIO NIKHOPIH
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ANATAIO TPIANTH

TEANO OYNTZH

EI EKOTIKH E..E.
,
TYPORAMA

/ 2001
ISBN: 9605382121
K : H 33/2
Copyright 2000

& , 26222 : (0610) 314094, 314206 : (0610) 317244
. 2121/1993,
.

................................................................................................................................................................................

K 1

, , ,
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1.1

...................................................................

13

..................................................................................

14

.....................................................................................

15

1.1.1 E
1.1.2 E

1.1.3 E ........................................................................................ 16
1.1.4 E Robots .................................................................................................................................... 17
1.2

.................................................................................................................................

19

1.2.1 E

...............................................................................................................................

20

1.2.2 E

.......................................

21

1.2.3 E ......................................................................... 22
1.3

.....................................................................................

24

...................................................................................................................................................................................

29

B ..................................................................................................................................................................... 31
K 2

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...................................................................................................

36

...............................................................................................................................................

39

2.1.

2.2

2.2.1 A ................................................................................................. 40
2.2.2 A ................................................................................................... 42

E E M

2.2.3
2.3

......................................................................................................
............................................................................

46

..........................................................................................

46

E
2.3.1

.............................................................

47

..........................................................................................................

49

2.3.2
2.3.3 K

44

..........................................

51

.....................................................................................

52

2.3.4
2.3.5

2.3.6

............................................

53

2.3.7 E ....................................................................................................... 54

...................................................................................................................................................................................

56

B ..................................................................................................................................................................... 59
K 3

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3.1

3.2

............................................................................

66

...................................................................................................................

70

3.2.1 Contract Net

.....................................................................................................
....................................................................................

72

............................................................................................

73

3.2.2 o KQML
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71

.................................................................... 77
..............................

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.........................................................................................

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...................................................................................................................................................................................

85

3.3.1
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K 4

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...............................................................................

91

...............................................................................................................

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................................................................................................................................

4.2.1 A

..........................................................................................................

95
97

4.2.2 A ............................................................................................................. 98
4.2.3 A .................................................................... 99
................................................................................................................................................................................ 102
B .................................................................................................................................................................. 103
K 5

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...............................................................................................................................

...................................................................

111
116

5.2.1 A A* ........................................................ 117

5.2.2 A

......................................

117

5.2.3 A A* ................................. 119

5.3.

.........................

122

................................................................................................................................................................................ 126
B .................................................................................................................................................................. 127

E E M

K 6

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.........................................

131

6.1.1 A ............................................................... 132

6.1.2 I ............................................................................................................... 133
6.1.3 A
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.......................................................................

134

M .......................................................................................... 136
6.2.1 ................................................................................................................. 137
6.2.2 A

....................................................................................

138

6.2.3 .................................................................................................... 140

................................................................................................................................................................................ 141
B .................................................................................................................................................................. 143
.........................................................................................

145

.........................................................................................................................

163

...................................................................................................................................................................

167

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KEAAIO 1:

14

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KEAAIO 1:

16

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KEAAIO 1:

18

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KEAAIO 1:

20

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KEAAIO 1:

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KEAAIO 1:

24

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25

26

KEAAIO 1:

, , , . ,
robot
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), , (commonsense knowledge)
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27

28

KEAAIO 1:

[2]. , ,
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KEAAIO 1:

30

Robots ,
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,
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.

.
,

,

,
,

, ,
, , .

1. Grosz, B., and Davis, R. (1994). A report to ARPA on twentyfirst century

intelligent systems, AI Magazine 15(3):1020.
2. Weld, D. (ed.) (1997). The Role of Intelligent Systems in the National Information
Infrastructure, The American Association for Artificial Intelligence, (available in
http://www.aaai.org/Policy/Papers/nii.html).
3. McCarthy, J. (1998). What is Artificial Intelligence?, Computer Science
Department, Stanford University, Stanford CA 94305, (available in
http://wwwformal.stanford.edu/jmc/).

,
.

, :
,

,
,
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BDI

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KEAAIO 2:

34

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35

KEAAIO 2:

36

2.1

(agent)
,
.
, .
, [31] :
,
, ,
( )
,

.
.
. Marvin Minsky The
Society of Mind [32]
,
[33], N. Shardlow / [40], P. Maes [29].
,

[38].
,
FIPA (Foundation for Intelligent Physical
Agents) [14], :
(actor) .

,
, () [14].

2.1

,
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, ,
Wooldridge Jennings [46].
(hardware software)
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, .

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, (mobility)

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(rationality)
.
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. ,

37

38

KEAAIO 2:

, (folk psychology) . (intentional system) Daniel

Dennett,

, [12].
. , , ( ) . ,

J. McCarthy:
, , , , , .
,
, [30].
,
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. ,
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robots, .
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.

2.2

39

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, . , ,
.
Wooldridge Jennings [46]

(information attitudes),

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2.1
.

2.1
,
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(
)
(modules)
.

, (deliberative architectures) (reactive architectures). (hybrid architectures), .

KEAAIO 2:

40

2.2.1

.
, , ,
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(deliberative
architecture). ,
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, (practical reasoning).
.

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,
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component)
. , ,

2.2

41

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.

Beliefs

Desires

Inentions

Plans

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Machine Architecture) [5]. , . , ,
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architectures) , , (joint
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BDI
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KEAAIO 2:

42

2.2.2

R. Brooks [8],
. ,

. (reactive architectures)[4].

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2.2

43

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robots, . Brooks ( hardware)
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(behavior modules) ( 2.2). , ,
. ,
. Steels Mars explorer [43].
action computation
p
e
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p
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p
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Exploring

Wandering

action output
Obstacle avoidance

PENGI [1]

,
. ,
, -

2.2

KEAAIO 2:

44

. situated automata [21]

.
(Agent
Network Architecture ANA) [27],
.
, (activation level)
. .
2.2.3

(hybrid architectures)
,
( ) , (
hardware) ( ) . ,
, .
Procedural Reasoning System (PRS) [15]
BDI. ,

. , ( )
( ). . PRS
. COSY [17]
BDI
.
TOURINGMACHINES [13] ,
(reactive layer)

(modeling planning layers).
INTERRAP [35],

2.2

45

( ) ( ).

.
, . INTERRAP robots .

2.2
;

,
.

,
.

o ,

.

( hardware)
.

KEAAIO 2:

46

2.3

, , ,
(routing, network agents, mobile agents, agent applets ..),
(safecritical systems, processcontrol systems, sensors, robots ..),
( , , personal
mailers ..), (Internet, intranets, ..), ( , , ..),
( , intelligent medical assistants ..),
.
.
, ,
.
.


.
1998, , [16] .
2.3.1

H (Internet). ,

. , . ,
(mobile agents),

.
AgentSoft Ltd. (URL 1) LiveAgent, , -

2 . 3

,
. LiveAgent
SearchAgent , ,
, Yahoo, Lycos
Excite, ,
. LiveAgent Pro.
Ahoy! (URL 2),
Washington home pages .
Metacrawler (URL 3) .
Information Projects Group Inc. MacroBot (URL 4), ,
macro .
, macros
.
O Browser Buddy Softbots Inc. (URL 5), ,
, URL . , (, , , .)
(download) .
Zuno Ltd
The Zuno Digital Library (URL 6),
. ZDL

.
Internet
(personal assistant) Firefly Inc. (URL 7).
2.3.2

, ,
. ,

47

48

KEAAIO 2:

1998 50 , 15 .
1997 2 . 1996 [18]. ,
... . , 4 . 25.
... ,
.
,
, .
Jango Netbot Inc. (URL 8)
.
Jango ,
,
. Jango
. Bargainbot (URL 9)

BargainFinder (URL 10) CDs.

(ecommerce) ,
(electronic
marketplace), Kasbah [9].
.
.
. EMA (URL 11)
emails .
,

Pattie Maes. 1 [45].

2 . 3

49

Amazon.com,
FastParts,
Classifieds2000,
Launch Media
.

Firefly Network, Net

Perceptions,
PersonaLogic,
BroadVision
.

Yahoo!, Excite,
BargainFinder,
WebMarket,
priceline.com
.

Jango, Junglee,
C2B/Inktomi,
Frictionless
Commerce, OptiMark
.

,




.

: Kasbah,
TeteaTete (MIT
Media Lab),
AuctionBot
(University of
Michigan) .

2.3.3

(mobile agents)
,
[29].
.
Java Virtual Machine, .
, ,

50

KEAAIO 2:

. Odyssey,
Aglets Voyager ( [23]).
Odyssey General Magic (URL 12) Java,
.
JDK 1.1. Odyssey agent system , (agents) (places),
. (workers)
. .
Aglets IBM (URL 13) Java Aglet API .
, .
Voyager ObjectSpace (URL 14)
. ,

. Voyager ,

.

Guideware Guideware Co. (URL 15), Concordia Mitsubishi (URL 16),
LogicWare Crystaliz (URL 17) Ara Kaiserlautern (URL 18). , , Planagent [36].


.
.
Java, -

2 . 3

. . aglets XPECT,

[22]. project
COAST
Purdue (URL 19).
.

. ,
.
2.3.4

(user interface) (animated agents).

. . Microsoft Microsoft Office.
Persona Project Microsoft ,
. , . CAP [34]
.
Maxims [28], ,
, , , , . , NewT
[28] ,

USENET .
, ,

51

KEAAIO 2:

52

.
,
[2] .
Oz Project Carnegie Mellon Virtual Theatre Project
Stanford.
2.3.5

. , (Intelligent Tutoring System ITS) , .
. , , .
COACH [39] Lisp. ,
, ,

.
. GIA [10] ITS
. GIA Project
,
ITS. , FITS [19] shell . The Dermatology Tutor [47], , BDI
.

2 . 3

2.3.6

. .
SHARE Project (URL 20) FirstLink,
.

, . , project

. ,
.
, , .

OASIS [25],
Kingsford Smith Sydney.
OASIS ,
,
, . , ,
, , , . SWARMM [44],

. SWARMM , , , , (Virtual Reality) ,
Helmet Mounted Displays . testbed Distributed ARM
(URL 21) MultiAgents Systems Laboratory -

53

KEAAIO 2:

54

. (, ,
, , .) agent
.

, robots. Saphira [24] robot flakey (URL 22) , . Nottingham Artificial Intelligence Group Lego agents Wacbots . MAPS [4]
, (computer vision),
([3], [37]).
2.3.7

. projects
, .
Carnot Project (URL 23)
.
, .
Cognition and Affect Project (URL 24) Birmingham, , .
,
, , .
Animate Agent Project Chicago
(URL 25)
(hardware software)

2 . 3

55

.
SodaBot Project MIT (URL 26)

, ,
.
.
.

[38].
. , . , (testbed)
. , ,
, .
2.3

. ,
.

KEAAIO 2:

56

.

,
, , . , .
, , , , , ..
.

YNOH

. ( ) , , , , .
. ,
, ( ) , . , .
( ),
.

, .
(, , .)
. , . , , ,
.. , ,
.

URL 1. AgentSoft Ltd. http://www.agentsoft.com

URL 2. Ahoy! University of Washington
http://www.cs.washington.edu/research/ahoy
URL 3. Metacrawler http://metacrawler.cs.washington.edu:8080/
URL 4. MacroBot Information Projects Group Inc.
http://www.ipgroup.com/macrobot/
URL 5. Softbots Inc. http://www.softbots.com/bb_home.html
URL 6. Zuno Ltd.: http://www.dlib.com/
URL 7. Firefly Inc. http://www.firefly.digital.com/
URL 8. Netbot Inc. http://www.jango.com

57

KEAAIO 2:

58

URL 9. Bargainbot http://www.ece.curtin.edu.au/~saounb/bargainbot

URL 10. BargainFinder http://bf.cstar.ac.com/bf
URL 11. EMA http://www2.ijs.si/~menzi/agents.html
URL 12. General Magic Inc. http://www.genmagic/agents/
URL 13. IBM Tokyo Research Laboratory http://www.trl.ibm.co.jp/aglets/
URL 14. ObjectSpace Inc. http://www.objectspace.com/Voyager
URL 15. Guideware Co. http://www.guideware.com
URL 16. Mitsubishi Electric ITA
http://www.meitca.com/HSL/Projects/Concordia
URL 17. Crystaliz Inc. http://www.crystaliz.com/logicware/logicware.html
URL 18. University of Kaiserlautern http://www.unikl.de/AGNehmer/
URL 19. University of Purdue http://www.cs.purdue.edu
URL 20. SHARE Project http://gummo.stanford.edu/html/SHARE/
URL 21. Testbed Distributed ARM http://dis.cs.umass.edu
URL 22. Flakey http://www.ai.sri.com/people/flakey
URL 23. Carnot Project http://www.mcc.com/projects/carnot/
URL 24. Cognition and Affect Project
http://www.cs.bham.ac.uk/~axs/cog_affect/COGAFFPROJECT.html
URL 25 Animate Agent Project
http://cswww.uchicago.edu/~firby/aap/index.html
URL 26. SodaBot Project http://www.ai.mit.edu/

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Version 1.0, 10 October 1997.
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27. Maes, P. (1991). The Agent Network Architecture (ANA). SIGART Bulletin, 2(4):
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,
, .

, :
,

,

,

,

,
,
,

,
,

.

K E A A I O 3 :

64

Knowledge Query and Manipulation

Language

Performatives

Illocutionary acts

Locutionary acts

Perlocutionary acts

PlanBased Theory of Speech Acts

Contract Net

spanning
tree

, , , , .
. ,
.
,
.
, .
,

.
, , , .
, ,
.

65

66

K E A A I O 3 :

3.1

. , , ,
. ,
, , . ,
,
. ,
(social) .
, , [17].
,
,
.
. ,
(signals) () . Hewitt [10]
Agha [1] (message
passing), (plan passing).
. ,
,
. (speech acts theory)
([2], [14]),
.
2, . -

3 . 1

[1].
, (utterances)
. (context)
. Austin ( [2])
performatives. performative
I hereby request I hereby declare . , performative

. , performatives, I hereby solve this equation . ,
performative illocutionary acts
illocutionary acts. Austin , locutionary acts
perlocutionary acts
.
Austin Searl [14]

. , ,
. , :
(representatives), , .. assert.
(directives), , .. request.
(commissives), , ..
promise.
(expressives), ( ), .. thank.

[1] , speaker
hearer. , sender receiver .
.

67

K E A A I O 3 :

68

(declarations), (
) .. declare.
, Cohen Perrault [4]
Searl (plans)
PlanBased Theory of Speech Acts. ,
. , (context)
. .
2

PlanBased Theory of Speech Acts.

Request(S, H, a)
PRECONDITIONS

CANDO.PR

(S BELIEVE (H CANDO a))

(S BELIEVE (H BELIEVE (H CANDO a)))

WANT.PR

(S BELIEVE (S WANT request_instance))

(H BELIEVE (S BELIEVE (S WANT a)))

EFFECT
Inform(S, H, )
PRECONDITIONS

CANDO.PR

(S BELIEVE )

WANT.PR

(S BELIEVE (S WANT inform_instance))

(H BELIEVE (S BELIEVE ))

EFFECT
Cause_to_Want(A1, A2, a)
PRECONDITIONS

CANDO.PR

(A1 BELIEVE (A2 BELIEVE (A2 WANT a)))

WANT.PR

(A1 BELIEVE (A1 WANT a))

EFFECT
Convince(A1, A2, )
PRECONDITIONS

EFFECT

CANDO.PR

(A1 BELIEVE (A2 BELIEVE ))

WANT.PR

(A1 BELIEVE )

3 . 1

Request Inform ( 1).

(PRECONDITIONS: CANDO.PR, WANT.PR), (EFFECTS). CANDO.PR WANT.PR
. , Request,
(speaker S) (hearer H) ,
, ( S) H
( CANDO.PR). , S Request (
WANT.PR). Request H
S (EFFECT).
Inform S
S .
, Request Inform
(illocutionary acts)
. , Cohen Perrault
(perlocutionary acts)
Cause_to_Want Convince ( 1). , Cause_to_Want , , Convince
,
. Cause_to_Want
Convince Request Inform .
Cohen Levesque [3]

.
illocutionary acts
. , Cohen Levesque
Searl .

69

K E A A I O 3 :

70

3.1

;

3.2

, . , . (communication protocols). .

3.2

3.2.1 Contract Net

Contract Net [15] (problem

solvers). (negotiation) . , ,
Contract Net .
(node)

.
, manager ( task
announcement).
( contractor), (general
broadcast).
(limited broadcast) (peertopeer announcement). , , .
Contract Net, YAMS (Yet Another Manufacturing System) [13], .

(workcells). ,
, , , . ,
(flexible
manufacturing systems FMS), ,
, . FMS
.
, , , . YAMS

, . Contract Net,
.

71

K E A A I O 3 :

72

3.2.2 KQML

Knowledge Query and Manipulation
Language (KQML) [5]. KQML
(
performatives), . , ,
performatives .
KQML (opaque) ,

, , , , . ,
KQML (.. Prolog, Lisp).
KQML :
(content layer), .
(communication layer),
, , .
(message layer),
.


. , .
, KQML joe
stockserver, IBM Prolog NYSETICKS, :
(askone
:sender joe
:content price(ibm, (Price, Time))
:receiver stockserver

3.2

:replywith ibmstock
:language standard_prolog
:ontology NYSETICKS)
, performative askone
(
keywords) sender, content . :content
, :sender,
:receiver, :replywith .
performative askone :language :ontology
.
stockserver :
(tell
:sender stockserver
:content price(ibm, (14, now))
:receiver joe
:inreplyto ibmstock
:language standard_prolog
:ontology NYSETICKS)
3.2.3 FIPA

, ,
,

, .
. , FIPA
(Foundation for Intelligent Physical Agents) [7]
. ,
,
.

73

K E A A I O 3 :

74

FIPArequest, FIPArequestwhen, FIPAquery ..
,
Contract Net Protocol [15]. ,
.
:
.
.
.

.
(italics) .
FIPArequest
FIPArequest ( 3.1),

. ,
(
).
3.1

FIPArequest.

not-understood

request
action

refuse
reason

failure
reason

agree

inform
Done(action)

inform
(iota (result action) )

3.2

75

FIPArequestwhen
,
, ,
( 3.2). ,

.
requestwhen
action
precondition

not-understood

refuse
reason

agree

cannot
proceed

can proceed

refuse
reason

precondition is true

3.2

failure
reason

inform
Done(action)

FIPArequest
when.

FIPAquery
FIPAquery, ( 3.3). ,
, , .
3.3

FIPAquery.

query

not-understood

failure
reason

refuse
reason

inform

K E A A I O 3 :

76

FIPAcontractnet

3.4

FIPAcontract net Contract Net 3.2.1.

( 3.4). ,
manager, . call for proposals (cfp)
, .
( contractors) (bid) . (manager)
,
. , . .
,
.
, .

FIPAcontract
net.

not-understood

cfp
action
preconditions1

propose
preconditions2

refuse
reason

Deadline for proposal

reject-proposal
reason

accept-proposal
proposal

refuse
reason

inform
Done(action)

cancel
reason
the manager cancels the
contract due to a change
of situation

3 . 3

77

FIPAiteratedcontractnet
FIPAcontractnet,
( 3.5). , , . - 3.5
-
.
FIPAiteratedco
ntractnet.
cfp
action
preconditions1

not-understood

propose
preconditions2

refuse
reason

reject-proposal
reason

accept-proposal
preconditions3

refuse
reason

reject-proposal
reason

inform
Done(action)

3.2
FIPAcontactnet

(personal assistants) .

FIPArequest FIPArequestwhen;

3.3

(cooperation)
(Distributed Artificial Intelligence) -

78

K E A A I O 3 :

, [11]. ,
[12]:
, .
(interoperability) (legacy systems), , , .

, , , .
.
3.3.1

, , MultiAgent
Computing Environment (MACE) [6]. MACE :
(application agents),
MACE.
(system agents),
.. user interface.
, .. pattern
matcher.
(description database),

.
(kernels), , , , .
MACE : ) ,

(acquaintance knowledge), ) ) . MACE
(name) (classes).

3 . 3

79

(role) (skills). , (goals),

, (plans), .
.
. MACE
Contract Net.
project Pleiades Carnegie Mellon [16]. ( 3.6).
User

User

User

task
solution
Task-specific agent

Task-specific agent

Task-specific agent

Layer 1

Information-specific
agent

Information-specific
agent

Information-specific
agent

Layer 2

query
reply
Datadase

Datadase

3.6

Datadase

Infosphere

(taskspecific agents),

. , .
,
.

. (information specific agents) . -

Pleiades.

80

K E A A I O 3 :

( infosphere),
. ,
.
Pleiades ( )
.
, , Dermatology Tutor [18]. Dermatology Tutor,
(Intelligent Tutoring System ITS),
. ,
. (tutor agent)
, (medical agents)
, (information agents), .
,
. . , ,
.
. , ,
.
. .
, Dermatology Tutor ( 3.7).
(user interface)
. -

3 . 3

81

, Dermatology Agent Help Agent,

. , . , Dermatology Agent .
Dermatology Agent .
Histology, Physiology, Biology, Biochemistry,
Microbiology, Radiology Immunology Agent . ,
(
),

.
3.7

User

Dermatology
Tutor.

User Interface

Dermatology Agent

Help Agent

Communication channel

Histology
Agent

Physiology
Agent

Biology
Agent

Biochemistry
Agent

Microbiology
Agent

Radiology
Agent

Immunology
Agent

Communication channel
: message passing
: event passing

Local & Remote

Libraries

K E A A I O 3 :

82

3.3.2

.
,
. ,
, ,
. , , ,
.
,
, (federated architectures) ([9], [8]).
(facilitators).
.
,
.
( 3.8).
Agent 1

Agent 2

Agent 3

Facilitator A

Agent 4

Agent 5

Facilitator B

Internet

Facilitator D

Facilitator C
3.8

Federated
Architecture.

Agent 6

Agent 7

Agent 8

Agent 9

Agent 10

3 . 3

Genesereth [9], , :
(White Pages)[2],
, ; ;.
(Yellow Pages),
, ..
x;.
(Contentbased Routing), .
(Direct Communication),
.
(Translation),
. ,
.
(Problem Decomposition),
,

. ,
.
(Monitoring), ,
,
, . chips ,
.
, . ,
, -

[2] White Pages Yellow Pages

.

83

K E A A I O 3 :

84

( 3.8). , . 3.9 .

3.9

() .

() spanning tree.

(full interconnection) ( 3.9()), , [3], .

, ,
,
.

spanning tree ( 3.9()),
(path) , (loops).
.
(failures),
, .
, (general
connectivity architecture),
, spanning tree, .
,
.
. , F1
F2,
F3 F3 F1. , [3] (.. logical level, logical view)
(hardware),
(.. physical level, physical view) ,
, , , .

YNOH

85

.
, .
3.1
, ;

, , .

, .

.

.

. , ,
Contract Net. , , . ,
.

KQML,
. KQML ,
. , .

86

K E A A I O 3 :

.

MACE,
Pleiades Dermatology Tutor.

, ,
.
,
.

.
, spanning
tree,
,
, , spanning tree,,
.

.

1. Agha, G. (1986). ACTORS: A Model of Concurrent Computation in Distributed

Systems. The MIT Press, Cambridge, MA.
2. Austin J., L. (1962). How to Do Things with Words. Oxford University Press,
London.
3. Cohen, P. R. and Levesque, H. J. (1990). Rational Interaction as the Basis for
Communication. In Cohen, P. R., Morgan, J., and Pollack, M. E., editors,
Intentions in Communication, pp. 221256. The MIT Press: Cambridge, MA.
4. Cohen, P. R. and Perrault, C. R. (1979). Elements of a Plan Based Theory of
Speech Acts. Cognitive Science, 3:177212
5. Finin, T., Labrou, Y., and Mayfield, J. (1997). KQML as an Agent
Communication Language. In J. M. Bradshaw (ed), Software Agents, AAAI
Press, Menlo Park, CA.
6. Gasser, L., Braganza, C., and Hermann, N. (1987). MACE: A Flexible Testbed
for Distributed AI Research. In M. Huhns, (ed.) Distributed Artificial Intelligence,
pp. 119152, Pitman Publishing, London.
7. FIPA (1997). Agent Communication Language. FIPA 97 Specification: Part 2,
Version 1.0, 10 October 1997.
8. Genesereth, M. R. and Ketchpel, S. P. (1994). Software agents. Communications
of the ACM, 37(7): 4853.
9. Genesereth, M. R. (1997). An AgentBased Framework for Interoperability. In
J. M. Bradshaw (ed.) Software Agents, AAAI Press, Menlo Park, CA.
10. Hewitt, C. (1977). Viewing Control Structures as Patterns of Passing Messages.
Artificial Intelligence, 8(3): 323364.
11. Huhns, M. N., Singh, M. P. (1994). Distributed Artificial Intelligence for
Information Systems, CKBS94 Tutorial, University of Keele, UK.
12. Nwana, H. S., Ndumu, D. T. (1998). A Brief Introduction to Software Agent
Technology. In N. R. Jennings, M. J. Wooldridge (eds) Agent Technology:
Foundations, Applications, and Markets, SpringerVerlag, Berlin.
13. Parunak, H. V. D. (1987). Manufacturing Experience with the Contract Net. In
M. N. Huhns (Ed.) Distributed AI, Morgan Kaufmann.
14. Searle, J. R. (1969). Speech Acts: An Essay in the Philosophy of Language.

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Cambridge University Press: Cambridge, UK.

15. Smith, R. G. (1980). The Contract Net Protocol. IEEE Transactions on
Computers, C29 (12).
16. Sycara, K. (1995). Intelligent Agents and the Information Revolution. UNICOM
Seminar on Intelligent Agents and their Business Applications, pp. 143159, 89
November, London.
17. Werner, E. (1989). Cooperating Agents: A Unified Theory of Communication
and Social Structure. In Gasser, L. and Huhns, M., editors, Distributed Artificial
Intelligence Volume II, pp. 336, Morgan Kaufmann Publishers Inc., San Mateo,
CA.
18. Zaharakis I. D., Kameas A. D. and Nikiforidis G. C. (1998). A Multiagent
Architecture for Teaching Dermatology, Medical Informatics, 23 (4): 289307.

,
.

, :

,
,
,
,
,

,

,
,
,
.

KEAAIO 4:

90

.
,
.
. , , ( )
. ,

.
, ,
.
:
. ,

. , , , .
.
, ,
, . , . , 4.1.2,
,
4.2, .
.

4 . 1

4.1

2.1,
, , . ,
, .
, ,
, . ,
, .
, ,
, . (world
states), . ,
(transitions)
, ,
(goal state).
(goal formulation)
,
, (problem
formulation), .
4.1.1

.
, (problem) , . , , :
(initial state),
.
-

91

92

KEAAIO 4:

.
(operators).
(goal test goal
condition)
.
(state
space) , , .
(path) . , , ,

.
(path cost), . , .
,
, (directed graph)[1]. ,
,

. (state space graph).
,
, (start node),
,
(goal node). , ,

[1] (Graph
Theory),
. , .

4 . 1

93

(plan), (planning).
4.1.2

,
.
(graph) ,
(vertices nodes) (edges) ( 4.1()). .
(directed edges), (arcs).
(directed graph). , .
(labels), ,
, .
ni nj, ni (parent) nj, nj
(successor child) ni. 4.1(), n3
n5 n6 d e. , n3
n5 n6 n5 n6 n3.

4.1

(n1, n2), (n2,

n3), , (nm1, nm).

94

KEAAIO 4:

n1 nm (length) m1. ,
n1, n2, , nm . (cycle). ni nj, nj (accessible) ni. , ni (ancestor)
nj nj (descendant) ni.
(directed acyclic graph). (directed tree),
(rooted tree),
:
, (root), .
.
, .
4.1(), n1
. (leaf).
, 4.1(), n4, n6, n7, n8 n9. (depth)
n n.
0. (height) n
n .
. (level) n n. , 4.1(), n4
2, 0 1.
, , , b, . ,
b, (branching factor) .
,
(cost) . , c(ni, nj) c(a)
, ni nj.
. ,
(minimal) .
(optimal path). , , n0, , ng, .

4.2

95

, , , ni . spanning tree ni.

[1] [2], .

4.1

.

4.2

,
, (solution), .
. , ,
.
( ) , . (expansion) .

, ,
.
,
, .
(search strategy search method).
, , .
:

96

KEAAIO 4:

(completeness), , .
(time complexity),
.
(space complexity),
.
(optimality), , .
( )
, .
, .. ,
, . , , T(n)
. ,
,
. , (f(n))
.
. ,
T(n) (f(n)), T(n)kf(n) n>n0, k, n0 .
, , O(n)

O(n2), n.
. (uninformed search) (blind search), ,
, ,

,
. (informed search) (heuristic search),
.

4.2

97

,
. [3] [4].
4.2.1

(breadthfirst search). ,
, ,
. , d
d+1. 4.2, 4.1().
,
, 1,
2, .

()

()
()

()
()
4.2

breadthfirst search , ,
, ,
. , ,

breadthfirst
search.

98

KEAAIO 4:

breadthfirst search . , ,
. ,
. , b ,
b
d. ,
1+b+b2+b3++bd ,
, (bd).
breadthfirst search ,
. breadthfirst search
(uniform cost search)
. uniform cost search
, . , ,
, uniform cost search
breadthfirst search. , uniform cost
search breadthfirst search, ,
, (bd).
4.2.2

(depthfirst search)
,
. ,

( 4.3).
, breadthfirst
search, .
, b m,
O(bm). depthfirst search
breadthfirst search,
. , , O(bm).

4.2

()

99

()
()

()

()
4.3

,
, .
, ,
,
. ,
, .
(depthlimited search),
(depth bound), . l
d, dl, .
, . O(bl) O(bl), b . .
4.2.3

(iterative deepening search) , 1,

,

depthfirst search.

KEAAIO 4:

100

( 4.4). ,
breadthfirst search
depthfirst search. , depthfirst search,
( ) , breadthfirst search.
, .
, , ,
[3] [4], b=10,
11% breadthfirst search .
, , iterative deepening search , , O(bd) O(bd), b
d .

()

()

4.4

iterative
deepening search.

()

4.2

101

4.2
.
;

4.1
, , .
b, d, m l.

Breadthfirst
Uniformcost
Depthfirst
Depthlimited
Iterative deepening

KEAAIO 4:

102

, . , . , , , ,
, .

.
,
, . b d
.
. , , , , O(bd). , .
, .
m , O(bm).
, O(bm) . ,
, ,
. ,
. ,
,
1, . , O(bd) O(bd).


1. Aho, A. V., Hopcroft, J. E., Ullman, J. D. (1974). The Design and Analysis of
Computer Algorithms, AddisonWesley, Reading, MA.
2. Cormen, T., Leiserson, C., Rivest, R. (1990). Introduction to Algorithms, MIT
Press, Cambridge, MA.
3. Nilsson, N. J. (1998). Artificial Intelligence: A New Synthesis, Morgan Kaufmann
Publishers, San Francisco, CA.
4. Russell, S., Norvig, P. (1995). Artificial Intelligence: A Modern Approach,
PrenticeHall, Inc., Upper Saddle River, NJ.

, .

, :
,

,
,
,
,
*,
, ,
,
,
,
.

pathmax

KEAAIO 5:

106

Manhattan distance

.

.
, ,
. ,
,
.
.
, , .
.
, . , , . ,
.
, , ,
. 4.1.2
, 4.2. ,
.

5 . 1

5.1

([5], [4],
[6], [3])[1]. ,
. , ,
, .

, ,
.
GENERALGRAPHSEARCH
1. ,
n0.
1.1. nodes.
1.2. n0 nodes.
2. nodes
2.1. nodes .
2.2. n.
3. n .
3.1. n.
3.2. nodes.
3.3. n .
4. nodes.
5. 2.

[9] [5] ,
[6] [4]
, [3] .

107

108

KEAAIO 5:

1 . , n0. ,
( nodes) . 2 . , . ,
. ,
n,
. 3,
n . , , n0 n (
). , n
nodes. ,
n .
4,
. . ,
. , ,
, (depthfirst search),
, (breadthfirst search).
. ,
5 2 .
(evaluation function). (bestfirst search). . ,

.
, ,

.

5 . 1

109

5.1.1

(greedy search) ,
. n
(heuristic function) h. h

, h(n) = 0, n .
( )
(problem specific) .
5.1, . , .
v1 v11.
5.1

,
(route finding problems),
(straight line distance) . ,
.
, .

KEAAIO 5:

110

,
. ( 2).
3

.
v11
v1 60

v6

21

v11

v16

29

v21

28

v2 62

v7

33

v12

16

v17

39

v22

42

v3 38

v8

25

v13

18

v18

42

v4 57

v9

28

v14

35

v19

52

v5 31

v10

14

v15

22

v20

23

v1,
( 5.2()). v2, v3, v5 ( 5.2()), v5 h(v5) = 31,
. v6, v11, h(v11) = 0 ( 5.2(), 5.2()).
,
. ,
(v1, v5, v6, v11) 44+23+29 = 96, (v1, v3, v6,
v11) 31+27+29 = 87. , v5 v3
. ( ) ,
. , ,
.

(dead end) (endless loop). ,
, v20 v3 (

5 . 1

111

v1

v1
h = 60
v2

v5

h = 62

v2

v3

h = 31

()

()

v1

v1

v5

h = 62

v3

v2

v5

h = 38

h = 62

h = 38

v3
h = 38
5.2

v2

v1

v6

v8

v2

h = 62

h = 60

h = 21

h = 25

h = 62

()

v1

v6

h = 60

v8
h = 25

v5

v3

h = 31

h = 38

v11
h=0

()

5.1). v21 v16

v3 v21 . , v22
v21.
.
, .
O(bm), m . ,
. ,
h, .
5.1.2 A*

* (A* search).
, h(n), , g(n), .

KEAAIO 5:

112

, , ( ).
* , f(n),
f(n) = g(n) + h(n)
g(n) h(n) n .
h(n), . h (admissible heuristic).
,
,
f. , h f(n)
n. A* .
v1

v1

f = 60
v2

v5

f = 100

f = 75

()

5.3

A*
.

v5

f = 100

f = 75

v1

v3

v2
f = 122

()

f = 69

()

v1

v2

v3

v2

v5

v3

f = 100

f = 75
v1

v5
f = 79

v6

f = 122
v5

v3

f = 112

f = 123

()

v11
f = 87

5 . 1

5.1.1 .

5.1.1 ( 5.1, 2), * 5.3. *
f. , v1 f(v1) = g(v1) + h(v1)
= 0 + 60 = 60 ( 5.3()). , v3 f(v3) = 31
+ 38 = 69 ( 5.3()) v6 f(v6) = 58 + 21 = 79 ( 5.3()). , v11 f(v11) = 87 + 0 = 87 ( 5.3()).
, *
v3 v5, .
, f
.
. (monotonic heuristics).

. , ni ni+1, f(ni)>f(ni+1), . , ni+1
ni,
f(ni) f(ni+1)
.

,
.
f(ni+1) = max(f(ni), g(ni+1)+h(ni+1)).
pathmax f .
, (contours)
, .

( 5.4). , 70 v1 v3 f(v1)=60 f(v3)=69
.

113

KEAAIO 5:

114

5.4

* f, . , fopt , * f(n) fopt. , ,

f
g ( h(n)=0).
, *, G1 g(G1). G2
g(G2).
g(G1) < g(G2)

(1)

* .
* G2, n G1. h * , n
g(G1) f(n)

(2)

n G2,
f(n) f(G2)

(3)

5 . 1

115

(2) (3)
g(G1) f(G2)

(4)

, f(G2) = g(G2) + h(G2) , G2 ,

h(G2)=0,
f(G2) = g(G2)

(5)

g(G1) g(G2)

(6)

(4) (5)

(1).
* . , [1]
,
* (optimally efficient), *.
, * ,
f,
. , *
f(n)<fopt.
*, ,
. ,
*, ,
.

5.1

4 GENERALGRAPHSEARCH.
.


,
.

KEAAIO 5:

116

,
.

,
.

n, A*.

5.1
(,
, ) *. .

5.2
5.1 h ( 3), * v16 v12. ;
4

v12

v12
v6
v10
v11

36
15
16

v12
v13
v14

0
31
24

v15
v16
v17

21
42
37

v18
v20

50
40

5.2

( , *),
. ,

5.2

*, .
. , , .
5.2.1 *

* (iterative deepening * search IDA*)

*
( 4.2.3).
(depthfirst search) f, . ,
f. , f
.
IDA* , * (
). ,
. ,
. , O(bd), b
d .


f. , f
, * , IDA* 1 + 2 + ... + = ( 2) . ,
, IDA*
A* (overhead) *.
5.2.2

(recursive bestfirst search RBFS) [2].

IDA*, . n, RBFS -

117

KEAAIO 5:

118

f n
f n .
(backedup values).
f(n) n i
f(n) = min(f(n1), f(n2), , f(ni)).
nodes ( 5.1, GENERALGRAPHSEARCH).
ni n, ,
. ,
n, n,
(backtracks) k n n. 5.5(),
, nodes .
r

22

k
29

n'

24

22

25

26

29

27

n'

22

28

22

24

24

24

25

26

kn

27

22

30

5.5

Recursive
BestFirst Search

27
()

29
()

kn k n, RBFS
kn,
n n ( 5.5()). ,

5.2

119

nodes,
.
5.2.3 *

, , * (simplified
memorybounded A* search SMA*).
* . IDA*,

,
SMA* . ,
. , ,
. , . (forgotten nodes). ,
, .
, 5.6
n7 n8 .
(f). ,
.
n1
14 + 0 = 14
12

11

n2

n3

12 + 7 = 19
13

11 + 7 = 18
10

n4
25 + 7 = 32

15

n5
22 + 7 = 29
9

n8
31 + 0 = 31

n6
26 + 7 = 33

21

n7
32 + 0 = 32
5.6

n9
30 + 7 = 37

KEAAIO 5:

120

5.7

SMA*

.

()

, f (
5.7 (), (), ()). n3 ,
f,
( n1) f ( 5.7()). n3 n6, . ,
. , f n6 . , f
( 5.7(), ()). n3 n7
f 32 ( 5.7()). n3 ,
( 5.7()). n7 ,
,
f n1 19. , n7 ( 5.7()) n2,
n4 ( 1 5.7()). n4
f . ,
n2
n5 ( 5.7()). n2
. ,
f ( n3) (
5.7()). , n5 n8,
( 5.7()).

()

()

()

()

()

()

5.2

121

()

()

()

()

, SMA* ,
. n8
n5. , n7. , SMA*
. , , . , , .
, , SMA*
* IDA*
. , SMA*
*, ,
.

()

()

KEAAIO 5:

122

5.3
.
IDA*

RBFS

SMA*

f.

,
.

f

f


.
.

5.3

, , , . , :
;
;
;
b* (effective
branching factor), . b*

5 . 3

d
,
N = 1 + (b*) + (b*)2 + + (b*)d.
(
) (b*), d,
N.
, 1 .
( 5.1),
. ,
8puzzle,
.
, 33,
. ( 5.8), .
.
, 8puzzle :
, .
. ,
[6] .
20 , . 3, , , ,
,
. , 310=3,5109
. 9!=362.880 , .
,
( )
, .

123

KEAAIO 5:

124

5.8

8puzzle.

()
A

()
K

8puzzle . ,

( , ), . h1 =

. h1=7. , h2= ,
. , , (
Manhattan distance).
h2=2+2+3+2+1+3+0+3=16.
* 8puzzle, 1*,
h1,
2*, h2. , . ,
, n , h2(n)h1(n).
h2 (dominates)
h1 2* (more informed) 1*. , , 2* 1*, 2* ,
, 1*.
f(n)<fopt
h(n)<fopt g(n). , h2(n)h1(n)

5 . 3

, 2*
1*. , , ,
.
h1
. ,
,
h1 :
.
, h2 . , h2
:
, .
, . , ,
(relaxed problem). , . ,

.
,
h
. , , . ,

. , .
. , .

125

KEAAIO 5:

126

5.2
P h1, h2, ..., hk
k P.
, P;

,


. ,
. ,
.
,
. , . , . O(bm), m . *
. , .
,
.
, *,
IDA*, RBFS
SMA*. ,
.
.
,
. ,
. ,
.

1. Dechter, R., Pearl, J. (1985). Generalized Bestfirst Search Strategies and the
Optimality of A*. Journal of the Association for Computing Machinery,
32(3):505536.
2. Korf, R. E. (1993). LinearSpace BestFirst Search. Artificial Intelligence,
62(1):4178.
3. Luger, G. F., Stubblefield, W. A. (1997). Artificial Intelligence: Structures and
Strategies for Complex Problem Solving, 3rd edition, AddisonWesley, Reading,
MA.
4. Nilsson, N. J. (1998). Artificial Intelligence: A New Synthesis, Morgan Kaufmann
Publishers, San Francisco, CA.
5. Pearl, J. (1984). Heuristics: Intelligent Search Strategies for Computer Problem
Solving, AddisonWesley, Reading MA.
6. Russell, S., Norvig, P. (1995). Artificial Intelligence: A Modern Approach,
PrenticeHall, Inc., Upper Saddle River, NJ.

,
.

, :

,
,
,
,
,
.

Anytime algorithm

minimin

KEAAIO 6:

130

, ,
.
, ,
. , ,
.
, .
,
.
, .

.
, . , .
4.1.2,
4.2 . ,
, .

6 . 1

6.1

( 4 5) ,
. ,
. 2,
, , , , ,
. ,
( 2.2). , ,
, :

, .

.
.

.

.
, ,
,

. , , -

131

132

KEAAIO 6:

, ,
. ,
, , ,
(.. ).
.

, ,
,
,
,
.
(..
*, IDA*, .). , ,

. anytime algorithms ([1], [2]). ,
, [5].
6.1.1

(islanddriven search), , (island nodes),

.
. ,
n0 ng . ,
, (n1, n2,, nk) . , ,
n0
n1, . , n1
, n2 ng.

6 . 1

6.1.2

(hierarchical search) ,
. . , , (metalevel plan), ,
. ,
, ,
(baselevel plan),
.
,
6.1. , 7, J5 E5 (goal grid). .
.
. , J5, J2, C2
C5 5. ,
.
,
. . , , H7 J6. ,
J2,
2, C2 .

.
, , .

133

KEAAIO 6:

134

1
2
3
4
5

Goal
grid

6
6.1

J5

(goal grid).

7
8
9
10

6.1.3

, , ,
. ,
, , .
,
, . ,
,
n*,
. d,
,
d. (horizon nodes).
n*
f,
n* = min f(ni), niH H .

6 . 1

135

minimin (minimin search) (limited horizon search) ([3], [5]).

n*, ,
,
.
,
. ,
f .
, n , n,
f(n)>f(n), , f, n
f(n),
. f(n) (alpha cutoff value). ,
, n,
f(n)<f(n). ,
d, .
6.1
.

,
.

136

KEAAIO 6:

,
.

,
.

,
.

6.2

.
(constraint satisfaction problems CSP)

. CSP
, .
8
(8queens problem)
.
8
[1]. VLSI[2] (VLSI layout),
, .

[1] , , .
[2] VLSI Very Large Scale Integration (
) (64.000
2.000.000) (chip).

6.2

137

, ,
,
(iterative improvement algorithms). ,
.
6.2. . .

,
.
evaluation

current
state

6.2

CSP.

, , CSP,
.
6.2.1

CSP

KEAAIO 6:

138

. , , (heuristic
repair methods).
, . (minconflicts heuristic) [4].

6.3

6.3, 8
, minconflicts.
( 6.3()). ,
(
).
( 6.3()). ,
( 6.3()).
0
2

()

2
()

()

6.2.2

(hill climbing search).

(gradient descent methods), , ,
, 1.
,
. ,

6.2

, . ,
,
. ,
,
. , .
. ,
:
(local maxima).
( )
,
. ,

. , .
(plateaux).
.
, .
. ,
, . ,
, .
(ridges).

( ), ( )
. 6.4, .
x y,
. ,
.

139

KEAAIO 6:

140

evaluation

6.4

(ridge).

.
(randomrestart hill climbing)
, ( ) ( ). ,
.

.
,
. ,
. , NP[3]
(NPcomplete), .
6.2.3

(simulated annealing), ,
. . , , e/. .
, .
[3] NPcomplete
.

YNOH

141

, , . ,
, , , ,
.
.

,
.
VLSI .

6.2
.

,
. ,
, ,

142

KEAAIO 6:

,
.
, , ,
.
,
. ,
.
, , , .
,
. ,

. ,
,
,
, , .
,
. ,

. ,
.
,
. , , , .
. ,
,
, , .

1. Dean, T., Boddy, M. (1988). An Analysis of TimeDependent Planning. In

Proceedings of the Seventh National Conference on Artificial Intelligence (AAAI
88), pp. 4954, AAAI Press, Menlo Park, CA.
2. Horvitz, E. (1989). Reasoning about Beliefs and Actions under Computational
Resource Constraints. In Kanal, L., et al. (eds), Uncertainty in Artificial
Intelligence III, pp. 301324, Elsevier, New York.
3. Korf, R. (1990). Real Time Heuristic Search, Artificial Intelligence, 42.
4. Minton, S., Johnston, M., Philips, A., and Laird, P. (1992). Minimizing Conflicts:
A Heuristic Repair Method for Constraint Satisfaction and Scheduling Problems,
Artificial Intelligence, 58(13):161205.
5. Nilsson, N. J. (1998). Artificial Intelligence: A New Synthesis, Morgan Kaufmann
Publishers, San Francisco, CA.

1.1

3.

4.

5.

6.


7.

Robots

1.


2.

E E M

146

8.

9.

10.

11. .

12.

13.

14.

Robots

,
. , 10 13 ,

147

. , .
, . . ,
. ,
.
1.2
.

1.

!

2. ,
3.

4. ,

5. ,

6. , ,

E E M

148

7.

8. ,


9. ,

, ,
.
,
, . ,
7,

. , ,
. .
2.1
FIPA :
(actor) .

,
, () .
Wooldridge Jennings

149

. ,
(hardware software)
(autonomy),
,
,
(social ability),
,
(reactivity), ,
(proactiveness), .
,
. , ( 2.1). , , .

. ,
.
2.2
;

,
.


,
.

150

E E M

( ,

, .

,
,
.)

.
(
.
,
.)


,
.
( ,


.
.)



.
(

,

,
.)
.
(

,

.)

151

2.3
:
: ,
: LiveAgent, LiveAgent Pro, Ahoy!, MacroBot, Browser
Buddy, ZDL
:
: , ,
: Jango, Bargainbot, BargainFinder, Kasbah, EMA
:
: , ,
: Odyssey, Aglets, Voyager, Guideware, Concordia,
LogicWare, Ara, Planagent.
:
: , ,
: CAP, Maxims, NewT
:
: ,
, , ,
: COACH, GIA, FITS, Dermatology Tutor
:
: , ,
: FirstLink, OASIS, SWARMM, Distributed ARM
, . , -

E E M

152

. ,
. , . ,
. .
3.1

;

(
, ,
.)

(

.)

.
(
.
,
.)

.

.
(
.

. ,

, ,

.)

153

(
,

)

3.2

, , .
, !
, . .
FIPAcontactnet
, (timeframe).
participate(participant, PAMeeting)
(participate), (participant) (PAMeeting).
timeframe1 timeframe2 .
FIPAcontactnet . FIPArequest , FIPArequestwhen
.

E E M

154

cfp
participate(participant, PA-Meeting)
timeframe-1

not-understood

propose
timeframe-2

refuse
participant not available
O

Deadline for proposals

accept-proposal
participate(participant,PA-Meeting)
O .
O .

reject-proposal
K

inform
Done(participate(participant,
PA-Meeting))

refuse
reason

cancel
reason

4.1

Breadthfirst

O(bd)

O(bd)

Uniformcost

O(bd)

O(bd)

Depthfirst

O(bm)

O(bm)

, dl

O(bl)

O(bl)

O(bd)

O(bd)

Depthlimited
Iterative deepening

, ,
. , ,
. .

155

5.1

( ,
,
.

.


n
.)

n, A*.

,
.

,
.
(
.
,

.)

,
.

, , . , , . ,

. ,
. -

E E M

156

.
5.2

5.9. (v16, v15, v11, v12)
33+30+24=87. , *
5.10. (v16, v13, v11,
v12) 20+26+24=70. , *
, , , v15 v13.
v16

v1
h = 42
v13

v20
h = 40

v15

h = 31 h = 21

()

v13

v15

h = 40 h = 31
5.9

v16 v12

v11

v16

h = 16

v16

v17

v20

h = 37

h = 40

v13

v17

v17

v15

h = 31

h = 37
v16

v11

h = 42 h = 37

v17

h = 42 h = 37
v6
h = 36

()

h = 37

()

v16

v20

v17

v10
h = 15

v12
h=0
()

v15
h = 21

157

v16

v16
f = 42
v20

v13

f = 81

v15

f = 51

f = 54

v16

v13

v15

f = 81
v11

f = 54

v16

v17

v20

f = 72

v13

v15

f = 81

v16

f = 62

f = 72

()

()

v20

v17

v11

f = 54

v17
f = 72
5.10

v16
f = 82

f = 82
v6

v10

v12

f = 111 f = 83 f = 70
()

v15

v13

f = 97 f = 103
()

,
. , 5.1
.
5.3
.
IDA*

RBFS

SMA*

f

f ,
,
.

A* v16
v12

158

E E M

,
f.

,
, .

, .
! , .
.
.

SMA*. , SMA* ,

.
, SMA* .
, . , .
SMA*
. IDA* RBFS
, .
, SMA*, . , .
, IDA*.
. , RBFS SMA*

. RBFS SMA* , IDA* .

159

RBFS , . ,
SMA*
.
6.1
.



.

(


.)

,

.

(
,
.)

,
.

,
.

,
.

, .

.
( ,

E E M

160

f
,
. ,
,
f .
,

f .)

, . , ,
. . .
6.2
.



.
(
,


.)

.
( ,
,
.)

.
(

161

.)

, .
, .
.

1.1
,
( ) () ().
.

, , , , ,
.
,
. , , .
, , . ,
, , , ,
. , , , , , . , ., .
, . ,
, , , ., .

E E M

164

3.1
spanning tree . ,
. , .
, . F1
, F2 F3, F2
F3. , F3
F2.
,
. , . ,

.
5.1
. ,
(dead end). ,
, , ( 5.1.1). , .
, O(bm), m b
. , , . , , .

*
. ,
h(n). ,
g(n).
*
, h(n) g(n)
.
* . ,
. * (locally finite graphs). , * . ,
.
, * ,
.
, ,
. , ,
. , , .

.
5.2
k , , . , h1, h2, ..., hk, h,
h(n) = max(h1(n), h2(n), ..., hk(n)).
, n, .

165

166

E E M

h , h1, h2, ..., hk

.
, . .
, , .

A* search

AAAI

Adaptation

Admissible heuristic

Agent

Agent oriented programming

Alpha cutoff value

Ancestor

Animated agents

Artificial Intelligence

Autonomy

B
Backedup values

Backtracking

Beliefs

Bestfirst search

Blind search

Branching factor

Breadthfirst search

C
Case based reasoning

Constraint satisfaction problems

Commonsense knowledge

E E M

168

Communication protocol

Completeness

Complexity Theory

D
Dead end

Decision Theory

Deliberative architectures

Depth bound

Depthfirst search

Depthlimited search

Descendant

Desires

Directed tree

Distributed Artificial Intelligence

Domination

E
Ecommerce

Edge

Effective branching factor

Endless loop

Evaluation function

Expansion

F
Facilitator

Federated architectures

169

Forgotten nodes

Full interconnection

Fuzzy Logic

G
Game Theory

General broadcast

General connectivity architecture

Genetic algorithms

Goal formulation

Goal node

Goal state

Goal test

Graph Theory

Greedy search

H
Heuristic function

Heuristic repair

Heuristic search

Hierarchical search

Hill climbing search

Horizon nodes

Hybrid architectures

I
Inference engine

Informed search

E E M

170

Intelligent agents

Intelligent information brokers

Intelligent user interfaces

Intentional system

Intentions

Interconnection

Internet

Interoperability

Islanddriven search

Island nodes

Iterative deepening * search

Iterative deepening search

Iterative improvement algorithms

J
Joint intentions

L
Label

Leaf

Limited broadcast

Limited horizon search

Locally finite graphs

M
Machine learning

Minconflicts heuristic

Mobile agents

171

Modules

Monotonic heuristic

Multi agent systems

Multi layered architectures

N
Negotiation

Neural networks

Node

Non monotonic reasoning

O
Ontology

Operator

Optimal efficiency

Optimal path

Optimality

Overhead

P
Parent

Path

Path cost

Personalization

Plan

Planning

Practical reasoning

Proactiveness

E E M

172

Problem formulation

Problem solvers

Q
Query language

R
Randomrestart hill climbing

Rapid prototyping

Reactive agents

Reactive architectures

Reactivity

Reasoning

Recursive bestfirst search

Relaxed problem

Root

Route finding problems

S
Search strategy

Simplified memorybounded
A* search

Simulated ANNEALING

Social ability

Software engineering

Space complexity

Speech acts theory

173

Start node

State space

()

State space graph

Subsumption architecture

Successor

Synthetic environment testbeds

T
Task announcement

Temporal reasoning

Test

Time complexity

Transition

U
Uniform cost search

Uninformed search

User interface

Utterances

V
Validation

Vertex

W
World state

World Wide Web

.
.
anytime (anytime algorithms): .
(iterative improvement algorithms):
,
, .
* (* search):
.
(recursive bestfirst search):

.
(hill climbing search): ,
,
. ,
.
(iterative deepening search):
,
1, , .
* (iterative deepening * search):
*
.
(hierarchical search):
,
.

176

E E M

(islanddriven search): , (island nodes), .

(depthfirst search): , .
, .
(depthlimited search): ,
(depth bound), .
(breadthfirst search):
,
,
.
(bestfirst search):
, .
(uniform cost search): ,

.
(limited horizon search): ,
n*, .
(proactiveness): .
(greedy search):

.
* (simplified
memorybounded A* search): -

*
.
(relaxed problem): .
(reactivity): .
b* (effective branching factor):
.
(reactive architecture): , .


.
(agent architecture):
.
(deliberative architecture):
, ,
, ,
.
, ,
.
(federated architecture):
,
.
(hybrid architecture):
,
,
( hardware) .
(subsumption architecture):

177

178

E E M

.
BDI (BDI architecture):
, .
(autonomy):
, .
(optimality): ,
,
.
(state space graph):


.
(negotiation): , .
(general connectivity): ,
, .
(full interconnection): , , , .
spanning tree (interconnection spanning tree): ,
, .
(facilitator): , ,
.
(state expansion):

.
(heuristic search):
, .
(informed search).
(heuristic function):
n
h. (heuristic).
(intelligent agent):
, . , , . FIPA, (actor) . ,
, () .
FIPA (Foundation for Intelligent Physical Agents):
.
(speech acts theory):

.
(mobile agent): ,

.
(social ability): , .
(start node): .

179

180

E E M

(goal node): .
(path cost):
. ,
.
(problem solution):
.
(heuristic repair methods):
.
(machine learning): ,
.
(path): .
(ontology): (, , , .)
.
(admissible heuristic): .
(plan): .
,
,

.
(completeness): ,
,
.
(time complexity):
, .
(space complexity):
, .
(problem): ,

.
(constraint satisfaction problems): .
(agent oriented
programming): , .
(simulated annealing): ,

.
(communication protocols): , .
KQML (KQML):
.
Contract Net (Contract Net protocol): , ,

.
(evaluation function):

.
(goal condition goal test): ,
.
(cooperation): ,
.
(branching factor): b, , , .
(user interface):

181

182

E E M

.
(intentional system): , .
(planning): .
(operators):
.
(Artificial Intelligence): , ,
.
(blind search):

, ,

, . (uninformed search).
(state space): , ,
,
.

anytime

GENERALGRAPHSEARCH

spanning tree

spanning tree

E E M

184

illocutionary acts

locutionary acts

performatives

perlocutionary acts

Manhattan distance

robots

185

contract net

KQML

8puzzle
8

VLSI


2.1

BDI .
2.2

.
3.1

FIPArequest.
3.2

FIPArequestwhen.
3.3

FIPAquery.
3.4

FIPAcontractnet.
3.5

FIPAiteratedcontractnet.
3.6

Pleiades.
3.7

Dermatology Tutor.
3.8

Federated Architecture.
3.9

.
4.1

.
4.2

breadthfirst search.
4.3

depthfirst search.
4.4

iterative deepening search.

E E M

188

5.1

.
5.2

.
5.3

A* .
5.4

.
5.5

Recursive BestFirst Search.

5.6

.
5.7

SMA* .
5.8

8puzzle.
5.9

v16 v12
5.10

A* v16 v12
6.1

J5 (goal grid).
6.2

CSP.
6.3

8 .
6.4

(ridge).

.
2

PlanBased Theory of Speech Acts.

3

.
4

189