Classical Planning

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Representation STRIPS STRIPS Planning Problem: DWR Example [Wic11] DWR planning problem Σ: STRIPS planning domain DWR si: any state s0 = {attached(pile, loc1), in(cont, pile), top(cont, pile), on(cont, pallet), belong(crane, loc1), empty(crane), adjacent(loc1, loc2), adjacent(loc2, loc1), at(robot, loc2), occupied(loc2), unloaded(robot)} g ⊂ L g = {¬unloaded(robot), at(robot, loc2)} tj. Sg = {s5} Radek Maˇrík (marikr@felk.cvut.cz) Classical Planning 15. dubna 2013 30 / 71
Overview of PDDL [Wic11] Representation PDDL Planning Domain Definition Language (PDDL) http://cs-www.cs.yale.edu/homes/dvm/ language features (verze 1.x): basic STRIPS-style actions various extensions as explicit requirements used to define: planning domains: requirements, types, predicates, possible actions. planning problems: objects, rigid and fluent relations, initial situation, goal description. the current version is 3.x Radek Maˇrík (marikr@felk.cvut.cz) Classical Planning 15. dubna 2013 32 / 71
Page 1 and 2: Classical Planning Radek Maˇrík C
Page 3 and 4: Concept of Plan [Nau09] Concept of
Page 5 and 6: Concept of AI Planning Definition P
Page 7 and 8: Concept of AI Planning Conceptual M
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Page 11 and 12: Planning Task [Nau09] Concept of AI
Page 13 and 14: Types of Planners [Nau09] Domain-sp
Page 15 and 16: Classical Planning [Nau09] Concept
Page 17 and 18: Representation STRIPS Classical Rep
Page 19 and 20: Representation STRIPS STRIPS - stat
Page 21 and 22: Representation STRIPS STRIPS - Oper
Page 23 and 24: Representation STRIPS Applicability
Page 25: Representation STRIPS STRIPS: Plann
Page 29 and 30: Representation PDDL Monkey Planning
Page 31 and 32: Planning Methods Logics and Searchi
Page 33 and 34: Planning Methods Logics and Searchi
Page 35 and 36: Planning Methods State Space State-
Page 37 and 38: Planning Methods State Space Planni
Page 45 and 46: Backward Search [Wic11] 1 Backward-
Page 47 and 48: Planning Methods State Space Sussma
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Page 51 and 52: Summary Conclusions Summary What is
Page 53 and 54: PDDL Domains [Wic11] Pˇríloha PDD
Page 55 and 56: Pˇríloha PDDL Specification PDDL
Page 57 and 58: PDDL Action [Wic11] Pˇríloha PDDL
Page 59 and 60: PDDL Effects [Wic11] Pˇríloha PDD
Page 61 and 62: PDDL Problem [Wic11] Pˇríloha PDD
Page 63: References I Dana Nau. CMSC 722, ai

Classical Planning

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