Computational complexity of determining resource loops in re-entrant flow lines

Fig. 9. The searching tree after inputting the same task command for the second time (with the initial state the same as in the first time). The desired node picked up by the explanation-based learning engine is node 28 and the generated searching template is supe-rior_order([next_to(_, _), on(_, _)]). When the same task command was inputted for the second time (with the initial state the same as in the first time), the planned action sequence is the same as in the first time, yet the corresponding searching tree alters, as shown in Fig. 9, where nodes 1–4 and 25 simply corre-however, the explanation-based learning engine fails to generate any other new searching template, because no desired node on the corresponding searching tree can be found, though there does be a successful leaf node. It can be seen that the number of the nodes searched in the second time decreases almost a half than in the first time and no backtracking happens. The searching efficiency is greatly increased. The effect of explanation-based learning is significant. V. SUMMARY The main contributions of this paper are as follows: 1) Explanation-based learning has been accurately placed in the triangle of problem solving, i.e., with the angle of searching mechanism. 2) A problem formulation has been made for robot action planning (RAP), which gives in-depth comprehensibility of RAP, especially that of means-ends analysis searching mechanism. 3) A new learning-based method has been developed for RAP, i.e., robot action planning via explanation-based learning (RAPEL), which is aiming at computer-realized recognition and acquisition of domain-specific searching heuristics. 4) The overall scheme of RAPEL has been put forward and the principle of RAPEL has been established, and terms, notations, grammars and paradigms of Prolog language are directly employed for the purpose of strictness. 5) Configuration of node has been proposed, by which node growth can be visually illustrated. 6) Logic chart has been proposed, by which processes of synthesizing action sequences can be visually illustrated. REFERENCES [1] R. E. Fikes and N. J. Nilsson, " STRIPS: A new approach to the application of theorem proving to problem solving, " Artif. Fuzzy logic-based formulation of the organization of intelligent robotic systems, " An efficient planning technique for robotic assemblies and intelligent robotic systems, " J. Intell. Robot. Abstract—This paper presents a comparison study of the computational complexity of the general job shop protocol and the more structured flow line …