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Real World Planning

#+BEAMER_HEADER_EXTRA \beamerdefaultoverlayspecification{<+->}

1 Real World Planning

1.1 Review

  • Classical Planning
    • fully observable
    • deterministic
    • finite
    • static
    • discrete

1.2 Review

1.2.1 (non) Classical Planning (for uncertainty)

  • fully observable partially observable
  • deterministic non deterministic
  • finite
  • static
  • discrete

1.2.2 <2-> Approaches

  • Sensorless Planning
  • Conditional Planning
  • Execution Monitoring and Replanning
  • Uncertainty Modeling

1.3 Weighty Tower of Hanoi

1.3.1 Facts

1.3.1.1 <1-> Similar to regular Tower of Hanoi

1.3.1.1.1 disk are to be ordered by their weight
1.3.1.1.2 clear(), on(), smaller(), disk()
1.3.1.1.3 <2-> clear(), on(), smaller() lighter(), disk()

1.3.1.2 <3-> Initial state

on(Red, Green), on(Green, Blue), on(Blue, A), clear(Red), disc(Red), disc(Green), disk(Blue) clear(B), clear(C), lighter(Red, A), lighter(Red, B) …

1.3.2 toh

../images/newtoh.eps

1.3.3 Action

1.3.3.1 <4-> Action

Action(move(disk, source, destination)
PRECOND: clear(disk) ^ on(disk, source) ^ clear(destination) ^lighter(disk,destination)\ EFFECT: on(disk, destination) ^ -on(disk, source) ^ -clear(destination) ^clear(source)

1.4 Weighty Tower of Hanoi

1.4.1 <1-> Can we do sensorless planning?

1.4.2 <2-> How would the agent do conditional planning?

1.4.3 <3-> Percept Schema

Percept(lighter(d1,d2)
PRECOND: disk(d1) ^ disk(d2) ^ comparing(d1,d2))

1.4.4 <4-> Information-gathering Action

Action(compare-weight(d1,d2)
PRECOND: disk(d1) ^ disk(d2) ^ clear(d1) ^ clear(d2)\ EFFECT: comparing(d1,d2))

1.5 Slippery Tower of Hanoi

1.5.1 Facts

1.5.1.1 <1-> Similar to regular Tower of Hanoi

  • clear(), on(), smaller(), disk()
  • the gripper is slippery. sometimes the disk is displaced to the destination but at others it remains at the source.

1.5.1.2 <2-> Initial state?

1.5.1.3 <3-> Goal State?

1.5.2 toh

../images/torrehanoi.png

1.5.3 Action

1.5.3.1 <4-> Action

Action(move(disk, source, destination)
PRECOND: clear(disk) ^ on(disk, source) ^ clear(destination) ^smaller(disk,destination)\ EFFECT: (on(disk, destination) ^ -on(disk, source) ^ -clear(destination) ^clear(source)) V (on(disk, source))

2 SGP Demo