As stated at the beginning of the chapter, the initial conditions
provide one of the three general sources of information regarding the
state. Therefore, three alternative types of initial conditions will
In general, let denote the initial condition, which may be any
one of the three alternative types.
- Known State: The initial state, , is given.
This initializes the problem with perfect state information. Assuming
nature actions interfere with the state transition function, ,
uncertainty in the current state will generally develop.
- Nondeterministic: A set of states,
given. In this case, the initial state is only known to lie within a
particular subset of . This can be considered as a generalization
of the first type, which only allowed singleton subsets.
- Probabilistic: A probability distribution, , over
Steven M LaValle