Acceso al documento en PDF - Biblioteca Nacional de Maestros

We have assmed to calculate the usefulness of the theories, the one which reflects an
estímate measure of the distance of the robot to the nearest energy poínt.
Given the Inítial Situation perceived by the autonomous intellígent System, ín an instant of
the time (let it be Tl) applying an action, we arrive at the Final Situation (in a space of the
time T2). Takíng ínto account the presented theory model can say that given a theory Ti, the
supposed conditíons of the theory Ti, the actíon, the predicted effects of the theory, the
quantity of times that the theory ís applied with success P, the number of times that the
theory ís applied K, boíng S the situatíon to the one is applíed and S’ the situation to the
one ís arrived (see example in Fig. 2).
. . . . .
;-
. . *.
..:;* : ‘. ; .,
-. : : ;
o I.... .: -.’ : :... * i-..; : * : ,
: . . . : . . . : * ..-- . *. ,-:’ : ,;
. : .
‘.,‘-.*.*
BUILT THEORY = (00001001, FORWARD, OOOOOOuO,1 ,l ,O)
Figure 2. Tho situations, an action (FORWARD) and the corresponding built theory
4. PLANNING
The planner is mechamísm through which the system build a plan (actíons succession) that
allows to it to reach its objectíves in an efficient form. Ehch time the system is found ín a
particular situation, tries to build a plan that applied to the current situation permits to the
system to reach a desirable sìtuation. If this plan exists the desirable situation is converted
into an objectíve sítuatíon. Eventually could occur that if it did not exist a plan, for somethíng
which one must to select other sítuation as desirable, if no one of the desirable situatíons
can be reached by a plan, then ís executed some of the plans by contíngency.
A situatíon is known if it ís registered as a situation of a theory of the set of theories. The
desirable situations stack constítuted by the predicted effects of the theories that possess
greater usefulness level, ordered decreasíngly usefulness level. Each situation -can be
interpreted as the resulting of have applíed an actíon to an anticípated sítuation. This
determines the precedence among the dífferent situations, as of those which will be armed
the graph of sítuations
Once the planner armed the graph is proceeded to find the plan among the desírable
situation and the current sítuation. If the plan is not found, there ís taken other sítuation of
I
187