IMP-minimax is the analog to minimax for games with imperfect information, like card games such as bridge or poker. It computes an optimal strategy for the game if the game has a single player and a certain natural pr...
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We present a very simple selective minimax search algorithm for two-player gaines. It ahvays expands next the frontier node at the end of the principal variation, or current best line of play, which is the node that d...
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In the design and construction of mobile robots vision has always been one of the most potentially useful sensory systems. In practice however, it has also become the most difficult to successfully implement. At the M...
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In the design and construction of mobile robots vision has always been one of the most potentially useful sensory systems. In practice however, it has also become the most difficult to successfully implement. At the MIT Mobile Robotics (Mobot) Lab we have designed a small, light, cheap, and low power Mobot vision System that can be used to guide a mobile robot in a constrained environment. It is our belief that the constraints of many environments will allow the implementation of a system that provides vision based guidance to a small mobile rover. The purpose of our vision system is to process realtime visual input and provide as output information about the relative location of safe and unsafe areas for the robot to go. It might additionally provide some tracking of a small number of interesting features. The system is designed to be self contained. It has its own camera and on board processing unit. It draws a small amount of power and exchanges a very small amount of information with the host robot. The project has two parts, first the construction of a hardware platform, and second the implementation of a successful vision algorithm. For the first part of the project, which is complete, we have built a small self contained vision system. It employs a cheap but fast general purpose microcontroller (a 68332) connected to a Charge Coupled Device (CCD). The CCD provides the CPU with a continuous series of medium resolution gray-scale images (64 by 48 pixels with 256 gray levels at 10-15 frames a second). In order to accommodate our goals of low power, light weight, and small size we are bypassing the traditional NTSC video and using a purely digital solution. As the frames are captured any desired algorithm can then be implemented on the microcontroller to extract the desired information from the images and communicate it to the host robot. Additionally, conventional optics are typically oversized for this application so we have been experimenting with aspheric len
Many decades ago, Japanese professional Go-Moku players stated that Go-Moku (Five-in-a-row on a horizontally placed 15x15 board) is a won game for the player to move first So far, this claim has never been substantiat...
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An information set in a game tree is a set of nodes from which the rules of the game require that the same alternative (i.e., move) be selected. Thus the nodes in an information set are indistinguishable to the player...
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Several early game-playing computer programs used forward pruning (i.e., the practice of deliberately ignoring nodes that are believed unlikely to affect a game tree's minimax value), but this technique did not se...
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Although game-tree search works well in perfect-information games, there are problems in trying to use it for imperfect-information games such as bridge. The lack of knowledge about the opponents' possible moves g...
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