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AI Planning

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22 views9 pages

AI Planning

Uploaded by

2105915
Copyright
© © All Rights Reserved
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Planning

Planning
• The task of coming up with a sequence of actions
that will achieve a goal is called planning. For
classical planning we will consider only
environments that are fully observable,
deterministic, finite, static and discrete. These are
called classical planning environments.
• Planning problems can be represented as states,
actions and goals.
• Representation of states:- planners decompose
the world into logical conditions and represent a
state as a conjunction of positive literals.
Planning
• Representation of goals:- A goal is a partially
specified state, represented as a conjunction
of positive literals.
• Representation of actions:- An action is
specified in terms of the preconditions that
must hold before it can be executed and the
effects that ensure when it is executed.
• A solution for a planning problem is an action
sequence that when executed in the initial
state, result in a state that satisfies the goal.
Planning
Example: The blocks world
• The blocks world consists of a set of cube shaped
blocks sitting on a table.
• A robot arm can pick up only one block at a time
and move it to another position , either on the
table or on top of another block.
• Suppose the goal is to get block A on B and block
B on C .
A
A B C
B
Initial state C
Final/goal state
Example: The blocks world

• On(b,x) → Block b is on x, where x is either


another block or the table.
• Clear(x) :- nothing on top of x.
• Move(b,x,y) → Moving block b from the top of
x to the top of y.
– The precondition for this action is no other block
be on top of b or y. In STRIPS we can write :
– Action(Move(b,x,y)
PRECOND: On(b,x) ∩clear(b)∩clear(y)
EFFECT: On(b,y) ∩clear(x) ∩~On(b,x) ∩~ Clear(y))
Example: The blocks world

So to build a three-block tower one solution is:-


• Init ( On(A,Table) ∩ On(B,Table) ∩ On(C,Table)
∩Block(A) ∩Block(B) ∩Block(C) ∩ clear(A) ∩clear(B)
∩clear(C))
• Goal(On(A, B) ∩ On(B,C))
• Action(Move(b, x, y))
• Then we can formulate the solution as the sequence
[ Move (B, Table, C), Move( A, Table, B)]
• The planning of the above type are called totally
ordered planning. It has only strict linear sequences of
actions connecting the start state to the goal state. We
can’t decompose the problem into sub-problems.
Partially ordered planning
• Consider the simple problem of putting on a pair of shoes.
• Goal( RightShoesOn ∩ LeftshoeOn) ; Init()
• Action(RighSock, EFFECT: RightSockOn)
•Action(LeftSock, EFFECT: LeftSock On)
•Action(RightShoe, PRECOND: RightSockOn, EFFECT:
RightShoeOn)
•Action(LeftShoe, PRECOND: LeftSockOn, EFFECT: LeftShoeOn)
• A planner can plan 2 action sequences : [Rightsock,
RightShoe] and [LeftSock, LeftShoe]. Then the two sequences
can be combined to yield the final plan.
• Any planning algorithm that can place two actions into a plan
without specifying which comes first is called a partial order
planning.
Partial order plan Total order plans
Start ……Start Start Start

Right Right
Right Sock Left Sock
Sock
Left Sock Sock

Right
Left Sock Left Sock
Sock
Left Sock On Right Sock On ……
Right
Left Shoe Right Left Shoe
Shoe Left Shoe
Shoe

Right Right
Left Shoe
Left Shoe On Right Shoe On Shoe Shoe

Finish
Finish Finish Finish
• In this example, the partial order solution
corresponds to six possible total order plans;
each of these is called a linearization of the
partial order plan.

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