基于条件效果的对象动态可变图规划

主要研究了基于条件效果的对象动态可变的规划问题．提出了相关元件、无关元件、创建／删除对象元件和普通元件等概念，把带有条件效果的动作和不带有条件效果的动作都元件化，并采用了对象命题化的思想．给出了新的基于目标驱动的规划图扩展算法和前向搜索有效规划算法，并给出了相应的后向传播互斥的定义，使得规划图的规模比较小，减少了搜索空间，大大提高了求解有效规划的效率．由于算法中的动作创建的效果是依赖于上下文的描述，这更加符合现实需要，使处理的问题更接近于真实的世界状态，因而此算法比以往的算法应用性更强，更具有现实意义．

Creating or deleting objects graphplan based on conditional effects

Mainly research was done on the creating or deleting objects Graphplan that based on conditional effects. Firstly, several new concepts were proposed, such as correlative component, irrelative component, creating or deleting objects component, common component and so on. Secondly, both actions with conditional effects and that without conditional effects were considered as components and the conception of transforming object into proposition was introduced. Thirdly, a novel intelligent planning algorithm which expanded the planning graph backwards from the goal set and searched a valid plan forward was proposed and also a new definition of mutex inference backwards was given correspondingly. The method reduced the scale of the planning graph and the search space, improved the efficiency of searching the valid plan greatly. Because the effects created by actions were contex-dependent, it was more suitable for the practical needs compared with previous methods, and made the planning problems to be handled much closer to the real word. Therefore, the method has its advantage over previous ones in application and has more practical significance.