ppt课件-flattireexample-texasamuniversity.pptVIP

Flat Tire Example init: {tire(flat),tire(spare),at(flat,axle),at(spare,trunk)} goal: at(spare,axle) operators: Remove(obj,loc) precond: at(obj,loc) effect: ?at(obj,loc),at(obj,ground) PutOn(t,axle) precond: tire(t),at(t,ground),?at(flat,axle) effect: ? at(t,ground), at(flat,axle) LeaveOvernight precond: effect: ?at(spare,ground), ?at(spare,trunk), ?at(spare,axle) ?at(flat,ground), ?at(flat,trunk), ?at(flat,axle) SatPlan propositionalization create separate literals for each ground instance of each fluent for each state index e.g. on_a_b_1 , on_a_b_2 , on_a_b_3, gripper_empty_1, gripper_empty_2... create propositions for action taken at step t: pickup_a_b_1... convert axioms in FOL to propositional sentences (one copy for each time index) possibility axioms: ?s,a Prec(s)?Poss(a,s) gripper_empty_1?clear_a_1 ?poss_pickup_a_1 gripper_empty_2?clear_a_2 ?poss_pickup_a_2 gripper_empty_1?clear_b_1 ?poss_pickup_b_1 successor axioms: ?s Poss(a,s)?Eff(result(a,s)) poss_pickup_a_1 ? pickup_a_1 ?holding_a_2??gripper_empty_2 frame axioms: ?s Flu(s)?a?CancelingActions?Flu(result(a,s)) on_b_c_1 ? poss_pickup_a_1 ?on_b_c_2 use a satisfiability solved like DPLL or WalkSat query: poss_on_a_b_1? poss_on_a_b_2? poss_on_a_b_3? the truth values of action propositions in the model tell you the plan pickup_c_a_1=T, puton_c_table_2=T, pickup_b_table_3=T, puton_b_a_4=T more complex planning domains Plan Abstraction the idea: simplify problem by temporarily “dropping” easy preconditions defer solving them till later make high-level plan, then fill in details system: ABSTRIPS example: make a high-level plan for solving 8-puzzle where you assume you can move pieces without empty space Hierarchical Task Networks (HTNs) plan library a list of standard operating procedures, written out in procedural syntax ExecuteMissionWithHelicopters: preconds: haveHelicopters, knowTargetCoordinates steps: {FlyFlightPlan,Engage,ReturnToBase} high-level operators vs. low-level operators expansion, multiple c