PPT Slide

P1,P2 A1 G1

Q11 B1 P1

Q11 B2 P2,~P1

Q13 C2 P2

Q12 D1 Q11

Init: Q12 Goal: G1

G1

P1

P2

A1

B1

C2

B2

Q11

Q13

D1

Q12

0

?

1

1

2

2

2

? + 1

2

5

5

For each partial plan in the

search queue, estimate its

h-value using this procedure

Top down greedy distance

computation

+ve as well as

-ve interactions

between P1 and P2

are ignored….

TOP DOWN

Demand-Driven

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