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Classical Planning in AI

Classical planning involves an agent constructing complex plans through problem structure analysis. The agent performs planning, acting, and learning. Classical planning is represented using PDDL, which describes the initial state, actions, results, and goals. PDDL is used to define problems like cargo transport, where cargo is loaded onto planes and flown between locations to achieve the goal. While PDDL cannot directly represent universal quantification, workarounds like cargo only being "on" an airport when unloaded allow defining solutions as sequences of load, fly, and unload actions.

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3K views5 pages

Classical Planning in AI

Classical planning involves an agent constructing complex plans through problem structure analysis. The agent performs planning, acting, and learning. Classical planning is represented using PDDL, which describes the initial state, actions, results, and goals. PDDL is used to define problems like cargo transport, where cargo is loaded onto planes and flown between locations to achieve the goal. While PDDL cannot directly represent universal quantification, workarounds like cargo only being "on" an airport when unloaded allow defining solutions as sequences of load, fly, and unload actions.

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Classical Planning is the planning where an agent takes advantage of the

problem structure to construct complex plans of an action. The agent performs


three tasks in classical planning:

 Planning: The agent plans after knowing what is the problem.


 Acting: It decides what action it has to take.
 Learning: The actions taken by the agent make him learn new things.

A language known as PDDL(Planning Domain Definition Language) which is


used to represent all actions into one action schema.
PDLL describes the four basic things needed in a search problem:

 Initial state: It is the representation of each state as the conjunction of the


ground and functionless atoms.
 Actions: It is defined by a set of action schemas which implicitly define
the ACTION() and RESULT() functions.
 Result: It is obtained by the set of actions used by the agent.
 Goal: It is same as a precondition, which is a conjunction of literals (whose
value is either positive or negative).

examples for PDDL

 Air cargo transport


 The spare tire problem

 The blocks world



 Air cargo transport
 Load: This action is taken to load cargo.
 Unload: This action is taken to unload the cargo when it reaches its
destination.
 Fly: This action is taken to fly from one place to another.

Therefore, the Air cargo transport problem is based on loading and unloading the
cargo and flying it from one place to another.

PDLL description for Air cargo transport:

Init (On(C1, SFO) ? On(C2, JFK) ? On(P1, SFO) ? On(P2, JFK)? Cargo(C1) ?
Cargo(C2) ? Plane(P1) ? Plane(P2)

? Airport (JFK) ? Airport (SFO))

Goal (On(C1, JFK) ? On(C2, SFO))

Action(Load (c, p, a),

PRECOND: On(c, a) ? On(p, a) ? Cargo(c) ? Plane(p) ? Airport (a)

EFFECT: ? On(c, a) ? In(c, p))

Action(Unload(c, p, a),

PRECOND: In(c, p) ? On(p, a) ? Cargo(c) ? Plane(p) ? Airport (a)


EFFECT: On(c, a) ? ?In(c, p))

Action(Fly(p, from, to),

PRECOND: On(p, from) ? Plane(p) ? Airport (from) ? Airport (to)

EFFECT: ? On(p, from) ? On(p, to))

The above described actions, (i.e., load, unload, and fly) affects the
following two predicates:

 (c,p): In this, the cargo is inside the plane p.


 (x,a): In this, the object x is at the airport a. Here, object can be
the cargo or plane.

It is to be noted that when the plan flies from one place to another, it should carry
all cargo inside it. It becomes difficult with the PDLL to give solution for such a
problem. Because PDLL do not have the universal quantifier. Thus, the
following approach is used:

 piece of cargo ceases to beOn anywhere when it is In a plane.


 the cargo only becomesOn the new airport when it is unloaded.

Therefore, the planning for the solution is:


Load (C1, P1, SFO), Fly(P1, SFO, JFK),Unload(C1, P1, JFK),

Load (C2, P2, JFK), Fly(P2, JFK, SFO),Unload(C2, P2, SFO)] .


Note: Some problems can be ignored because they does not cause any problem
in planning.

 The spare tire problem

The problem is that the agent needs to change the flat tire. The aim is to place a
good spare tire over the car’s axle. There are four actions used to define the
spare tire problem:

1. Remove the spare from the trunk.


2. Remove the flat spare from the axle.
3. Putting the spare on the axle.
4. Leave the car unattended overnight. Assuming that the car is parked at an
unsafe neighborhood.

The PDLL description for the spare tire problem is:


Init(Tire1(Flat ) ? Tire1(Spare) ? At(Flat , Axle) ? At(Spare,
Trunk ))

Goal (At(Spare, Axle))

Action(Remove(obj , loc),

PRECOND: At(obj , loc)

EFFECT: ? At(obj , loc) ? At(obj , Ground))

Action(PutOn(t , Axle),

PRECOND: Tire1(t) ? At(t , Ground) ?¬At(Flat , Axle)

EFFECT: ? At(t , Ground) ? At(t , Axle))

Action(LeaveOvernight ,

PRECOND:

EFFECT: ? At(Spare, Ground) ?¬At(Spare, Axle) ?¬At(Spare, Trunk)

?¬At(Flat, Ground) ?¬At(Flat , Axle) ?¬At(Flat, Trunk))


 The solution to the problem is:
[Remove(Flat,Axle),Remove(Spare,Trunk), PutOn(Spare, Axle)].
Similarly, we can design PDLL for various problems.
Complexity of the classical planning
In classical planning, there occur following two decision problems:

1. PlanSAT: It is the question asking if there exists any plan that solves a
planning problem.
2. Bounded PlanSAT: It is the question asking if there is a solution of length
k or less than it.

We found that:

 PlanSAT and Bounded PlanSAT are decidable for classical planning.


 Both decision problems lie in the complexity class PSPACE, which is
larger than NP.
Note: PSPACE is the class which refers to those problems that can be solved
via deterministic Turing machine under a polynomial time space.
From the above, it can be concluded that:

1. PlanSAT is P whereas Bounded PlanSAT is NP-complete.


2. Optimal planning is hard with respect to sub-optimal planning.

Advantages of Classical Planning


There are following advantages of Classical planning:          

 It has provided the facility to develop accurate domain-independent


heuristics.
 The systems are easy to understand and work efficiently.

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