Classical Planning

More documents

Recommendations

Info

Representation PDDL Monkey Planning Domain (define (domain MONKEY) (:requirements :strips :typing) (:types monkey box location fruit) (:predicates (isClear ?b - box) (onBox ?m - monkey ?b - box) (onFloor ?m - monkey) (atM ?m - monkey ?loc - location) (atB ?b - box ?loc - location) (atF ?f - fruit ?loc - location) (hasFruit ?m - monkey ?fruit)) (:action GOTO :parameters (?m - monkey ?loc1 ?loc2 - location) :precondition (and (onFloor ?m) (atM ?m ?loc1)) :effect (and (atM ?m ?loc2) (not (atM ?m ?loc1)))) (:action PUSH :parameters (?m - monkey ?b - box ?loc1 ?loc2 - location) :precondition (and (onFloor ?m) (atM ?m ?loc1) (atB ?b ?loc1) (isClear ?b)) :effect (and (atM ?m ?loc2) (atB ?b ?loc2) (not (atM ?m ?loc1)) (not (atB ?b ?loc1)))) (:action CLIMB :parameters (?m - monkey ?b - box ?loc1 - location) :precondition (and (onFloor ?m) (atM ?m ?loc1) (atB ?b ?loc1) (isClear ?b)) :effect (and (onBox ?m ?b) (not (isClear ?b)) (not (onFloor ?m))) ) (:action GRAB-FRUIT :parameters (?m - monkey ?b - box ?f - fruit ?loc1 - location) :precondition (and (onBox ?m ?b) (atB ?b ?loc1) (atF ?f ?loc1)) :effect (and (hasFruit ?m ?f)))) Radek Maˇrík (marikr@felk.cvut.cz) Classical Planning 15. dubna 2013 33 / 71
Representation PDDL Monkey Planning Problem (define (problem MONKEY1) (:domain MONKEY) (:objects monkeyJudy - monkey bananas - fruit boxA - box locX locY locZ - location) (:init (and (onFloor monkeyJudy) (atM monkeyJudy locX) (atB boxA locY) (atF bananas locZ) (isClear boxA) ) ) ) (:goal (and (hasFruit monkeyJudy bananas)) Radek Maˇrík (marikr@felk.cvut.cz) Classical Planning 15. dubna 2013 34 / 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
Page 9 and 10: Concept of AI Planning Conceptual M
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 and 26: Representation STRIPS STRIPS: Plann
Page 27: Overview of PDDL [Wic11] Representa
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
Page 49 and 50: Planning Methods State Space Sussma
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

Create successful ePaper yourself

Delete template?

Save as template?