1. G5AIAI – Introduction to AI
Uniform Cost Search
G5AIAI – Introduction to AI

2. Uniform cost search
A breadth-first search finds the shallowest goal state and will therefore be the cheapest solution provided the path cost is a function of the depth of the solution. But, if this is not the case, then breadth-first search is not guaranteed to find the best (i.e. cheapest solution).
Uniform cost search remedies this by expanding the lowest cost node on the fringe, where cost is the path cost, g(n).
In the following slides those values that are attached to paths are the cost of using that path.

3. A S B G C 10 1 5 5 5 15 Consider the following problem…
We wish to find the shortest route from node S to node G; that is, node S is the initial state and node G is the goal state. In terms of path cost, we can clearly see that the route SBG is the cheapest route. However, if we let breadth-first search loose on the problem it will find the non-optimal path SAG, assuming that A is the first node to be expanded at level 1. Press space to see a UCS of the same node set…

4. Node A is removed from the queue and the revealed node (node G) is added to the queue. The queue is again sorted on path cost. Note, we have now found a goal state but do not recognise it as it is not at the front of the queue. Node B is the cheaper node. Press space.
Once node B has been expanded it is removed from the queue and the revealed node (node G) is added. The queue is again sorted on path cost. Note, node G now appears in the queue twice, once as G10 and once as G11. As G10 is at the front of the queue, we now proceed to goal state. Press space.
We now expand the node at the front of the queue, node A. Press space to continue.
Node S is removed from the queue and the revealed nodes are added to the queue. The queue is then sorted on path cost. Nodes with cheaper path cost have priority.In this case the queue will be Node A (1), node B (5), followed by node C (15). Press space.
We start with our initial state and expand it… A A 10 1 5 5 S S B B G G G G G G
The goal state is achieved and the path S-B-G is returned. In relation to path cost, UCS has found the optimal route. Press space to end. 15 C
Press space to begin the search
Size of Queue: 3
Size of Queue: 1
Size of Queue: 0
Size of Queue: 0
Queue: B, G11, C
Queue: G10, G11, C15
Queue: Empty
Queue: A, B, C
Queue: Empty
Queue: S
Nodes expanded: 3
Nodes expanded: 1
Nodes expanded: 2
Nodes expanded: 0
Current action: Expanding
FINISHED SEARCH
Current action: Waiting….
Current action: Expanding
Current action: Backtracking
Current level: 1
Current level: n/a
Current level: 0
Current level: 0
Current level: 2
Current level: 1
UNIFORM COST SEARCH PATTERN