Planning: Part 3 Planning Graphs

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<strong>Planning</strong> <strong>Graphs</strong> Each level consists of Literals = all those that could be true at that time step, depending upon the actions executed at preceding time steps. Actions = all those actions that could have their preconditions satisfied at that time step, depending on which of the literals actually hold.
PG Example Init(Have(Cake)) Goal(Have(Cake) Eaten(Cake)) Action(Eat(Cake), PRECOND: Have(Cake) EFFECT: ¬Have(Cake) Eaten(Cake)) Action(Bake(Cake), PRECOND: ¬ Have(Cake) EFFECT: Have(Cake))
Page 1 and 2: PLANNING GRAPHS
Page 3: Planning Graphs Planning graphs co
Page 7 and 8: PG Example Add all applicable actio
Page 9 and 10: PG Example Identify mutual exclusio
Page 11 and 12: Cake example Level S 1 contains al
Page 13 and 14: The GRAPHPLAN Algorithm Extract a
Page 16 and 17: GRAPHPLAN example EXPAND-GRAPH als
Page 18 and 19: GRAPHPLAN Termination Termination?
Page 20 and 21: Dinner Date example
Page 22 and 23: Dinner Date example
Page 24: Planning Graph Example Rocket probl

Planning: Part 3 Planning Graphs

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