Classical Planning

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Concept of AI Planning Conceptual Model The Dock-Worker Robots (DWR) Domain [Wic11] Planning procedure illustration harbour with several locations (docks), docked ships, storage areas for containers, parking areas for trains, trucks Goal: cranes to load and unload ships. robot carts to move containers around Port of Hamburg Radek Maˇrík (marikr@felk.cvut.cz) Classical Planning 15. dubna 2013 10 / 71
Concept of AI Planning Conceptual Model State Transition System Example [Nau09] State Trainsition System Σ = (S, A, E, γ) S = {states} A = {actions} E = {exogenous events} γ = S × (A ∪ E) → 2 S System Instance S = {s0, s1, . . . , s5} A = {move1, move2, put, take, load, unload} E = {} γ = {see arrows} Radek Maˇrík (marikr@felk.cvut.cz) Classical Planning 15. dubna 2013 11 / 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: 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 and 28: Overview of PDDL [Wic11] Representa
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
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
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Classical Planning

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