Example problem Initial State: At(Home)Sells(hws, Drill) Sells(SM, Milk) Sells( SM, Ban Goal: Have(Milk) At(Home) Have( Ban ) Have drill) erators At(SM), Sells(SM, Ban. At(Hws GO(SM) Buy(Ba At(SM) Have( Ban) At(hWS) Sells(hws, Drill) At (home) Go(HWS Buv di At(HWS Have drill At(sm) At(SM), Sells(SM Milk Go(Home) Buy(Milk) At(Home) Havel milk)
Example Problem Go(HWS) Go(Home) Buy(Drill) Buy(Milk) Buy(Ban.) Go(SM) At(SM), Sells(SM,Milk) At(SM) At(SM), Sells(SM,Ban.) At(Home) At(HWS) At(HWS) Sells(HWS,Drill) Have(Milk) Have(Drill) Have(Ban) At(Home) At(HWS) At(SM) Goal: Have(Milk) At(Home) Have(Ban.) Have(Drill) Initial State: At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.) Operators:
Initial and Goal States Encoded as operators Start At(Home) Sells(Hws, Drill) Sells(SM,Milk) Sells(SM, Ban. Why encode as operators? Dont need to introduce(partial )states as separate objects Keeps theory minimal Have milk) at(Home) Havel Ban )Have drill) Finish
Initial And Goal States Encoded As Operators Have(Milk) At(Home) Have(Ban.) Have(Drill) Finish Start At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.) Why encode as operators? Don’t need to introduce (partial) states as separate objects. Keeps theory minimal
Partial Order plan <Actions, Orderings, LinkS> Start At(Home) Sells(hws, Drill)Sells(SM, Milk) Sells(SM, Ban. At(Home Go(HWS At(HWS) Sells(hws, Drill) Buy(Drill At(Hws GO(SM) At(SM), Sells(SM, Milk) At(SM), Sells(SM, Ban. Buy( Milk Buy(Ban) AtISML Go(Home) Have milk) at(Home) Havel Ban ) Have(drill) Finish
Start Finish Have(Milk) At(Home) Have(Ban.) Have(Drill) Buy(Milk) At(SM), Sells(SM,Milk) Buy(Ban.) At(SM), Sells(SM,Ban.) Buy(Drill) At(HWS) Sells(HWS,Drill) At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.) Partial Order Plan <Actions,Orderings,Links> At(HWS) Go(SM) Go(Home) At(SM) Go(HWS) At(Home)
Partial Order plan <Actions, Orderings, Links> Start At(Home) Sells(hws, Drill)Sells(SM, Milk) Sells(SM, Ban. At(Home Go(HWS At(HWS) Sells(hws, Drill) Buy(Drill, At(Hws GO(SM) At(SM), Sells(SM, Milk) At(SM), Sells(SM, Ban. Buy(Milk, Buy(Ban) AtISML Go(Home) Have milk) at(Home) Havel Ban ) Have(drill) Finish
Start Finish Buy(Drill) Buy(Milk) Buy(Ban.) Have(Milk) At(Home) Have(Ban.) Have(Drill) At(SM), Sells(SM,Milk) At(SM), Sells(SM,Ban.) At(HWS) Sells(HWS,Drill) At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.) Partial Order Plan <Actions,Orderings,Links> At(HWS) Go(SM) Go(Home) At(SM) Go(HWS) At(Home)
Partial Order plan <Actions Orderings Links> Start At(Home) sells(hws Drill) Sells(SM, Milk) Sells(SM, Ban. At(Home Go(HWS At(HWS) Sells(hwS, Drill Buy(Drill At(HWs GO(SM) At(SM), Sells(SM, Milk At(SM), Sells(SM, Ban. Buy(Milk, Buy(Ban) AtISML Go(Home) Have milk) at(Home) Havel Ban ) Have(drill) Finish
Start Finish Buy(Drill) Buy(Milk) Buy(Ban.) Have(Milk) At(Home) Have(Ban.) Have(Drill) At(SM), Sells(SM,Milk) At(SM), Sells(SM,Ban.) At(HWS) Sells(HWS,Drill) Go(Home) At(HWS) Go(SM) At(SM) At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.) Partial Order Plan <Actions,Orderings,Links> Go(HWS) At(Home)