MIT16_410F10_lec07b

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±² 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 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 ² ?target± Eff: ± ¬ Pointing (?direction), ± ± Pointing (?target)±± Outline ³ Example: DS1 and MER Mission-Planning ³ Overview of Operator-based Planning ³ Graph Plan
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6 Outline ± Example: MER Mission Planning ± Overview of Operator-based Planning ± Graph Plan Mars Rover slides removed due to copyright restrictions.
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This note was uploaded on 12/26/2011 for the course SCIENCE 16.410 taught by Professor Prof.brianwilliams during the Fall '10 term at MIT.

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MIT16_410F10_lec07b - Activity Planning and Execution:...

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