Monad Transformers for Backtracking Search

This paper extends Escardo and Oliva's selection monad to the selection monad transformer, a general monadic framework for expressing backtracking search algorithms in Haskell. The use of the closely related continuation monad transformer for similar purposes is also discussed, including an implementation of a DPLL-like SAT solver with no explicit recursion. Continuing a line of work exploring connections between selection functions and game theory, we use the selection monad transformer with the nondeterminism monad to obtain an intuitive notion of backward induction for a certain class of nondeterministic games.Comment: In Proceedings MSFP 2014, arXiv:1406.153

Learning in Real-Time Search: A Unifying Framework

Real-time search methods are suited for tasks in which the agent is interacting with an initially unknown environment in real time. In such simultaneous planning and learning problems, the agent has to select its actions in a limited amount of time, while sensing only a local part of the environment centered at the agents current location. Real-time heuristic search agents select actions using a limited lookahead search and evaluating the frontier states with a heuristic function. Over repeated experiences, they refine heuristic values of states to avoid infinite loops and to converge to better solutions. The wide spread of such settings in autonomous software and hardware agents has led to an explosion of real-time search algorithms over the last two decades. Not only is a potential user confronted with a hodgepodge of algorithms, but he also faces the choice of control parameters they use. In this paper we address both problems. The first contribution is an introduction of a simple three-parameter framework (named LRTS) which extracts the core ideas behind many existing algorithms. We then prove that LRTA*, epsilon-LRTA*, SLA*, and gamma-Trap algorithms are special cases of our framework. Thus, they are unified and extended with additional features. Second, we prove completeness and convergence of any algorithm covered by the LRTS framework. Third, we prove several upper-bounds relating the control parameters and solution quality. Finally, we analyze the influence of the three control parameters empirically in the realistic scalable domains of real-time navigation on initially unknown maps from a commercial role-playing game as well as routing in ad hoc sensor networks

A Random Walk Perspective on Hide-and-Seek Games

We investigate hide-and-seek games on complex networks using a random walk framework. Specifically, we investigate the efficiency of various degree-biased random walk search strategies to locate items that are randomly hidden on a subset of vertices of a random graph. Vertices at which items are hidden in the network are chosen at random as well, though with probabilities that may depend on degree. We pitch various hide and seek strategies against each other, and determine the efficiency of search strategies by computing the average number of hidden items that a searcher will uncover in a random walk of $n$ steps. Our analysis is based on the cavity method for finite single instances of the problem, and generalises previous work of De Bacco et al. [1] so as to cover degree-biased random walks. We also extend the analysis to deal with the thermodynamic limit of infinite system size. We study a broad spectrum of functional forms for the degree bias of both the hiding and the search strategy and investigate the efficiency of families of search strategies for cases where their functional form is either matched or unmatched to that of the hiding strategy. Our results are in excellent agreement with those of numerical simulations. We propose two simple approximations for predicting efficient search strategies. One is based on an equilibrium analysis of the random walk search strategy. While not exact, it produces correct orders of magnitude for parameters characterising optimal search strategies. The second exploits the existence of an effective drift in random walks on networks, and is expected to be efficient in systems with low concentration of small degree nodes.Comment: 31 pages, 10 (multi-part) figure

On Backtracking in Real-time Heuristic Search

Real-time heuristic search algorithms are suitable for situated agents that need to make their decisions in constant time. Since the original work by Korf nearly two decades ago, numerous extensions have been suggested. One of the most intriguing extensions is the idea of backtracking wherein the agent decides to return to a previously visited state as opposed to moving forward greedily. This idea has been empirically shown to have a significant impact on various performance measures. The studies have been carried out in particular empirical testbeds with specific real-time search algorithms that use backtracking. Consequently, the extent to which the trends observed are characteristic of backtracking in general is unclear. In this paper, we present the first entirely theoretical study of backtracking in real-time heuristic search. In particular, we present upper bounds on the solution cost exponential and linear in a parameter regulating the amount of backtracking. The results hold for a wide class of real-time heuristic search algorithms that includes many existing algorithms as a small subclass