AI Lecture 3 (solving problems by searching)

CSE 412: Artificial IntelligenceCSE 412: Artificial Intelligence
Fall 2018Fall 2018
Topic – 3: Solving ProblemsTopic – 3: Solving Problems
by Searchingby Searching
Tajim Md. Niamat Ullah Akhund
Lecturer
Department of Computer Science and Engineering
Daffodil International University
Email: tajim.cse@diu.edu.bd

Topic ContentsTopic Contents
Problem Solving AgentsProblem Solving Agents
Problem Formulation and Search SpacesProblem Formulation and Search Spaces
Example ProblemsExample Problems
Tree Search AlgorithmTree Search Algorithm
 Breadth-First SearchBreadth-First Search
 Uniform-Cost SearchUniform-Cost Search
 Depth-First SearchDepth-First Search
 Depth Limited SearchDepth Limited Search
 Iteratively Deepening SearchIteratively Deepening Search
 Bidirectional SearchBidirectional Search 2

IntroductionIntroduction
In this topic, we see how an agent can find
a sequence of actions that achieves its
goals, when no single action will do.
3
Majidur RahmanMajidur Rahman

Problem-SolvingProblem-Solving AgentAgent
Four general steps in problem solving:
• Goal formulation
– What are the successful world states
• Problem formulation
– What actions and states to consider given the goal
• Search
– Examine different possible sequences of actions that
lead to states of known value and then choose the
best sequence
• Execute
– Perform actions on the basis of the solution
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Example: RomaniaExample: Romania
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Example: RomaniaExample: Romania
On holiday the agent is in Romania visiting in
Arad. Flight leaves tomorrow from Bucharest.
• Formulate goal
– Be in Bucharest
• Formulate problem
– States: various cities
– Actions: drive between cities
• Find solution
– Sequence of cities; e.g. Arad, Sibiu, Fagaras,
Bucharest,…
6

Problem TypeProblem Type
Given how we have defined the problem:
• Environment is fully observable
• Environment is deterministic
• Environment is sequential
• Environment is static
• Environment is discrete
• Environment is single-agent
7

Problem FormulationProblem Formulation
A problem is defined by:
 An initial state, e.g. In(Arad)
 A successor function S(x) = set of action-state pairs
• S(In(Arad)) = {(Go(Sibiu), In(Sibiu)), (Go(Zerind), In(Zerind)),
(Go(Timisoara), In(Timisoara))}
• initial state + successor function = state space
 Goal test
• Explicit, e.g. x=‘In(Bucharest)’
 Path cost (assume additive)
• e.g. sum of distances, number of actions executed, …
A solution is a sequence of actions from initial to
goal state
 the optimal solution has the lowest path cost
8

Vacuum WorldVacuum World
State space of the vacuum world
9

Example ProblemsExample Problems
The problem-solving approach has been applied to
a vast array of task environments.
Some of the best known are listed here,
distinguishing between toy and real-world problems.
A toy problem is intended to illustrate or exercise
various problem-solving methods.
It is usable by different researchers to compare the
performance of algorithms.
 A real-world problem is one whose solutions
people actually care about.
We will mainly focus on toy problems in this topic.
10

Toy Problems: 8-PuzzleToy Problems: 8-Puzzle
 States: location of each tile plus blank
 Initial state: Any state can be initial
 Actions: Move blank {Left, Right, Up, Down}
 Goal test: Check whether goal configuration is reached
 Path cost: Number of actions to reach goal
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Toy Problems: 8-QueensToy Problems: 8-Queens
Place eight queens on a chessboard such that
no queen attacks any other.
Two kinds of problem formulation:
• Complete-state formulation
• Incremental formulation
12

Complete-state formulation
• States: Any arrangement of 0 to 8 queens on the board
• Initial state: No queens
• Actions: Add queen to any empty square
• Goal test: 8 queens on board and none attacked
• Path cost: N/A
64.63.62…..57 ≈ 3 x 1014
possible sequences to investigate
13Tajim Md. Niamat Ullah AkhundTajim Md. Niamat Ullah Akhund

Incremental formulation
• States: n (0 to 8) queens on the board, one per column in
the n leftmost columns with no queen attacking any other
• Actions: Add queen in leftmost empty column such that
the queen is not attacking any other queen
• 2057 possible sequences to investigate; solutions are
easy to find
But with 100 queens the problem is much harder
14

Real-World ProblemsReal-World Problems
 Route-finding problems
 Touring problems
 Traveling Salesman problem
 VLSI layout problem
 Robot navigation
 Automatic assembly sequencing
 Internet searching
15

Basic Search AlgorithmsBasic Search Algorithms
How do we find the solutions of previous
problems?
• Search the state space
– State space can be represented by a search tree
– Root of the tree is the initial state
– Children generated through successor function
• In general we may have a search graph rather
than tree (same state can be reached through
multiple paths)
16

Simple Tree Search ExampleSimple Tree Search Example
17

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State Space vs. Search TreeState Space vs. Search Tree
• A state corresponds
to a configuration of
the world
• A node is a data
structure in a search
tree
– e.g. node = <state,
parent-node, action,
path-cost, depth>
20

Search StrategiesSearch Strategies
 A search strategy is defined by picking the order of node
expansion
 Problem-solving performance is measured in four ways:
• Completeness: Is a solution found if one exists?
• Optimality: Does the strategy find the optimal solution?
• Time Complexity: How long does it take to find a solution?
• Space Complexity: How much memory is needed to perform
the search?
 Time and space complexity are measured in terms of
problem difficulty defined by:
• b - branching factor of the search tree
• d - depth of the shallowest goal node
• m - maximum length of any path in the state space
21

Uninformed Search StrategiesUninformed Search Strategies
• Uninformed search (or blind search)
– Strategies have no additional information about states beyond
that provided in the problem definition
• Informed (or heuristic) search
– Search strategies know whether one state is more promising
than another
• Uninformed strategies (defined by order in which nodes
are expanded):
– Breadth-first search
– Uniform-cost search
– Depth-first search
– Depth-limited search
– Iterative deepening search
– Bidirectional search
22

Breadth-First SearchBreadth-First Search
• Expand shallowest unexpanded node
• Fringe is the collection of nodes that have been generated
but not yet expanded.
• The set of all leaf nodes available for expansion at any
given point is called the frontier.
• Implementation: fringe/frontier is a FIFO queue
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25

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• Completeness: is a solution always found
if one exists?
– YES
• If shallowest goal node is at some finite depth d
• If branching factor b is finite
• BF search is optimal if the path cost is a
non-decreasing function of the depth of
the node
27

• Time complexity: Assume a state space where
every state has b successors
– Assume solution is at depth d
– Worst case: expand all but the last node at depth d
– Total number of nodes generated:
– b + b2
+ b3
+ ...+ bd
+ (bd +1
− b) = O(bd +1
)
• Space complexity: every node generated must
remain in memory, so same as time complexity
28

• Memory requirements are a bigger problem than
execution time.
29

Uniform-Cost SearchUniform-Cost Search
• Extension of BF-search:
– Expand node with lowest path cost
• Implementation: fringe = queue ordered by
path cost
• UC-search is the same as BF-search
when all step costs are equal
30

 Let us consider the following search tree, where A
and G are the initial and goal node, respectively.
31

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35

36

 Let us consider the another search tree, where A
and G are the initial and goal node, respectively.
37

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40

41

• Completeness:
– YES, if step-cost > some small positive constant ε
• Optimality:
– nodes expanded in order of increasing path cost
– YES, if complete
• Time and space complexity:
– Uniform-cost search is guided by path costs rather than
depths, so its complexity cannot easily be characterized
in terms of b and d.
– Instead, assume C* is the cost of the optimal solution
– Assume that every action costs at least ε
– Worst-case: O(bC*/ε
)
42

Depth-First SearchDepth-First Search
• Expand deepest unexpanded node
• Implementation: fringe is a LIFO queue (= stack)
43

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45

46

47

48

49

50

51

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DF-Search: EvaluationDF-Search: Evaluation
• Completeness:
– Is a solution always found if one exists?
– No (unless search space is finite and no loops
are possible)
• Optimality:
– Is the least-cost solution always found?
– No
55

DF-Search: EvaluationDF-Search: Evaluation
• Time complexity: O(bm
)
• In general, time is terrible if m (maximal
depth) is much larger than d (depth of
shallowest solution)
– But if there exist many solutions then faster
than BF-search
• Space complexity: O(bm)
– Backtracking search uses even less memory
(one successor instead of all b)
56

Depth-Limited SearchDepth-Limited Search
• DF-search with depth limit l
– i.e. nodes at depth l have no successors
– Problem knowledge can be used
• Solves the infinite-path problem
• If l < d then incompleteness results
• Time complexity: O(bl
)
• Space complexity: O(bl)
57

Depth-Limited Search withDepth-Limited Search with ll = 2= 2
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Iterative Deepening SearchIterative Deepening Search
• A general strategy to find best depth limit l
– Goal is found at depth d, the depth of the
shallowest goal-node
– Often used in combination with DF-search
• Combines benefits of DF- and BF-search
62

ID-Search: ExampleID-Search: Example
63

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65Majidur RahmanMajidur Rahman

Bidirectional SearchBidirectional Search
Two simultaneous searches run from start and goal.
– Motivation:
– One forward from the initial state
– Other backward from goal
– Stops when the two searches meet in the middle
• Check whether the node belongs to the other fringe before
expansion
67
bd/2
+bd/2
≠bd

Time complexity: O(bd/2
)
Space complexity: O(bd/2
)
– This space complexity is the most significant
weakness of bidirectional search.
Completeness and Optimality: Yes
– If step costs are uniform
– If both searches are breadth-first search.

The reduction in time complexity makes
bidirectional search attractive, but how do we
search backwards?
The predecessor of each node should be
efficiently computable.
– When actions are easily reversible.

Summary of AlgorithmsSummary of Algorithms
70

********** ********** If You Need Me ********** **********
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Thank you
Tajim Md. Niamat Ullah AkhundTajim Md. Niamat Ullah Akhund

AI Lecture 3 (solving problems by searching)

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