| 摘要 |
PROBLEM TO BE SOLVED: To suppress the generation of a plan including an unnecessary action and improve the total plan generation efficiency at the same time by selecting the node of a basic action or the nodes of an action and a goal connected through only an auxiliary node from a start position. SOLUTION: On a procedure network, a goal node connected from a start node 20 only by a primitive action node 21 and an auxiliary node (or branch/ coupling node 23 in this case), i.e., only a goal node having a plan generated up to the node is regarded as a goal node 24 to be expanded. This start node 20 is given an initial state, so the state of the primitive node 21 is determined and a planner engine 13 performs goal expansion based on the determined state as the action result of the primitive action node 21. Therefore, the sure goal expansion is performed. |
