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lecture9 - Articial Intelligence Partial-Order Planning...

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Partial-Order Planning; page 1 of 21 Artificial Intelligence Partial-Order Planning Russell and Norvig - Chapter 11 Nilsson - Chapter 22
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Partial-Order Planning; page 2 of 21 initial state you are at home and don’t have milk, bananas, and a drill goal state you are at home and have milk, bananas, and a drill
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Partial-Order Planning; page 3 of 21 STRIPS initial state At(Home) goal state operators Sells(SM, Bananas) Sells(HWS, Drill) Sells(SM, Milk) At(Home) Go(here, there) Precond: At(here) Effect: At(there) AND NOT At(here) Buy(x, store) Precond: At(store) and Sells(store,x) Effect: Have(x) Have(Bananas) Have(Milk) Have(Drill)
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Partial-Order Planning; page 4 of 21 operators Go(here, there) Precond: At(here) Effect: At(there) AND NOT At(here) Buy(x, store) Precond: At(store) and Sells(store,x) Effect: Have(x) Start() Precond: Effect: At(Home) AND Sells(HWS, Drill) AND Sells(SM, Milk) AND Sells(SM, Bananas) Finish() Precond: Have(Drill) AND Have(Milk) AND Have(Bananas) AND At(Home)
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Partial-Order Planning; page 5 of 21 Finish Start Have(Drill) Have(Milk) Have(Banana) At(Home) At(Home) Sells(SM,Banana) Sells(SM,Milk) Sells(HWS,Drill) initial plan example: partial-order regression planner On each iteration: 12 3 Pick an existing operator that achieves p If none exists, add a new operator that achieves p If this results in an inconsistent plan, backtrack Pick a precondition p that is not yet achieved
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Partial-Order Planning; page 6 of 21 At(s), Sells(s,Drill) At(s), Sells(s,Milk) At(s), Sells(s,Bananas) Finish Start Buy(Drill) Buy(Milk) Buy(Bananas) Have(Drill), Have(Milk), Have(Bananas), At(Home) At(HWS), Sells(HWS,Drill) At(SM), Sells(SM,Milk) At(SM), Sells(SM,Bananas) Finish Start Buy(Drill) Buy(Milk) Buy(Bananas) ordering constraint causal link - implies an ordering constraint
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lecture9 - Articial Intelligence Partial-Order Planning...

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