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MIT16_410F10_lec07b - Activity Planning and Execution...

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1 Activity Planning and Execution: Introduction to Operator-based Planning Brian C. Williams 16.410-13 September 29 th , 2010 Slides draw upon material from: Dr. David Smith, NASA Ames Research Center Assignments • Remember: Problem Set #3: Analysis and Constraint Programming, due today Wednesday, Sept. 29 th , 2010. Problem Set #4: Constraint Satisfaction and Activity Planning, out today, due Wednesday, October 6 th , 2010. • Reading: Today: Operator-based Planning [AIMA] Ch. 10. ! Graph Plan, " by Blum & Furst. Monday: Advanced Planning [AIMA] Ch. 11. Brian Williams, Fall 10 2
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2 Monitors Autonomous Agents Command dispatch Fault protection Attitude control Mission Goal Scenario Self-commanding Self-diagnosing Self-repairing RECOVERY PLANNING EXECUTION Commanded in terms of • Mission goals • Engineering goals Operator-based Planning • Input Set of world states Action operators Fn: world-state world-state Initial state of world – Goal A partial state (set of world states) 4 a a a north11 north12 W 0 W 2 W 1 Output Sequence of actions that is Complete: Achieve goals Consistent: No negative side-effects
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3 Operators in STRIPS Representation Turn (?target): Pre: Pointing (?direction), ?direction ?target Eff: ¬ Pointing (?direction), Pointing (?target) Outline Example: DS1 and MER Mission-Planning Overview of Operator-based Planning Graph Plan
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6 Outline
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