Better Neighbor Insert an action EXecution_cost (a)'=2a'EAset(EvalAdd(a)Cost(a') Temporal cost(a)) End time(EvalAdd(a)) Search cost(a)' =Aset(EvalAdd(a) 十 a'∈Aset( EvalAdd(a) Threats(a) Remove an action Execution_cost(a)「 a'∈Aset( EvalDel(a) Cost(a') Temporal cost(a) =End time(EvalAdd(a)) Search cost(a) = Aset(EvalAdd(a) a'∈Aset( EvadE(a) Threats(a) Advantages and disadvantages Pros One of the fastest domain-independent planners Relatively expressive domain description languages Can easily be extended to be anytime algorithm ·Cons Algorithm is not guaranteed to be complete No guarantee on the quality of the plan Does not allow flexible time bounds11 Better Neighbor • • Execution_cost (a)i = Σa’∈Aset(EvalAdd(a))Cost(a’) Temporal_cost(a)i = End_time(EvalAdd(a)) Search_cost(a)i = |Aset(EvalAdd(a))| + Σa’∈Aset(EvalAdd(a))Threats(a’) Execution_cost (a)r = Σa’∈ ))Cost(a’) Temporal_cost(a)r = End_time(EvalAdd(a)) Search_cost(a)r = |Aset(EvalAdd(a))| + Σa’∈ ))Threats(a’) 12 Advantages and Disadvantages – – – – – – Insert an action Remove an action Aset(EvalDel(a Aset(EvalDel(a • Pros One of the fastest domain-independent planners Relatively expressive domain description languages Can easily be extended to be anytime algorithm • Cons Algorithm is not guaranteed to be complete No guarantee on the quality of the plan Does not allow flexible time bounds