Algorithm 3.3.
1: | Function Expand(b, d) |
Inputs: b: The belief node we want to expand. | |
d: The depth of expansion under b. | |
Static: T: An AND-OR tree representing the current search tree. | |
C: The number of observations to sample. | |
2: | if d = 0 then |
3: | LT (b) ← maxa ∈ A RB(b, a) |
4: | else |
5: | LT (b) ← −∞ |
6: | for all a ∈ A do |
7: | Sample = {z1, z2, … zC} from distribution Pr(z|b, a) |
8: | |
9: | LT (b) ← max{LT (b), LT (b, a)} |
10: | end for |
11: | end if |
12: | return LT (b) |