1. 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)

6. 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

7. more complex planning domains

8. 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 724 516 83 724 513 86

9. 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 choices of how to achieve subtask –still a problem of sub-goal interactions –system: STEAM

10. plan monitoring and repair –what if action in step i might fail? –non-deterministic domains (most in real-world) –at each step, check pre-conditions –if expected conditions not satisfied, re-invoke planner costly to re-plan from scratch search for modification of existing plan, e.g. re-do previous action or insert steps to get back on track contingent planning: –a plan with a branch in it –include sensor actions to sense state –algorithm to create such plans to achieve goals goal regression? universal planners: generate state-action tables, finite-state machines {pickupA, senseHolding, while not holding do {pickupA,senseHolding}} {swingAx, senseTree, while TreeStanding do {swingAx,senseTree}} enter room sense light off(light)?  flip(switch) next action

11. plan optimization –use heuristics to search for a plan that minimizes cost of operators, or time... –start by finding any plan that achieves goals, and then apply incremental modifications related to scheduling –critical path method (CPM) – compute [ES,LS] –resource constraints (e.g. 1 machine to add engine)

12. Robotics basic approach: –navigation in configuration space – find path from initial configuration to goal configuration –# dimensions = degrees of freedom (parameters that can be controlled, e.g. joint angles) –find path; avoid collisions with “obstacles”